/PhysicsEngines/Tests2D/Program.cs

using System.Collections.Generic;

using Delta.Engine;

using Delta.InputSystem;

using Delta.Rendering.Basics.Fonts;

using Delta.Rendering.Basics.Materials;

using Delta.Utilities;

using Delta.Utilities.Datatypes;

using Delta.Utilities.Datatypes.Advanced;

using Delta.Utilities.Helpers;

using NUnit.Framework;



namespace Delta.PhysicsEngines.Tests2D

{

	/// <summary>

	/// Physics tests

	/// </summary>

	[Category("Visual")]

	internal class Program

	{

		#region Main (Static)

		/// <summary>

		/// Main entry point, will just call one of the tests, uncomment the rest

		/// </summary>

		public static void Main()

		{

			// Note: In the default settings Physics modules are not used, thus none

			// of the physics tests will work. For this project (which has the same

			// content project name: Delta.PhysicsEngines.Tests2D) Farseer is already

			// set in the content Settings.xml and will be used. Do the same for your

			// own projects or use a line like this to force a specific physics

			// module. All required files will be copied automatically.

			//Settings.Modules.PhysicsModule = "Farseer";



			#region Tests

			//TestSimpleSimulation2D();

			//TestJoints();

			//TestForceAndTorque();

			//TestSingleBodyTwoShapes();

			//TestFlummySimulation2D();

			//TestRayCast();

			//TestControlledSpherePlane();

			//TestRotatingBall();

			//TestBallMovement();

			//TestResize();

			//TestCollisionEvents();

			//BugTest();

			#endregion



			#region Tutorials

			//Tutorials.Simple2DSimulation();

			//Tutorials.JointsSimulation();

			//Tutorials.BouncyBallSimulation();

			//Tutorials.FlummySimulation();

			//Tutorials.RayCasting2D();

			//Tutorials.CollisionEvents();

			Tutorials.PyramidSimulation();

			#endregion

		}

		#endregion

		

		#region TestSimpleSimulation2D (Static)

		/// <summary>

		/// Test a simple simulation with 2D physics

		/// </summary>

		[Test]

		public static void TestSimpleSimulation2D()

		{

			Physics.Gravity = new Vector(0.0f, 0.0981f, 0.0f);

			// Enable debug drawing

			Physics.DebugEnabled = true;



			// Create some (2 balls and 1 box) and the ground and let them 

			// collide due to gravity

			List<PhysicsBody> balls = new List<PhysicsBody>();



			PhysicsBody box = null;

			PhysicsBody ground = null;

			float radius = 0.05f;

			float mass = 1.0f;



			Rectangle rectangle = new Rectangle(0.1f, 0.65f, 0.8f, 0.1f);

			Rectangle boxRect = new Rectangle(0.0f, 0.0f, 0.05f, 0.05f);



			for (int index = 0; index < 10; index++)

			{

				PhysicsBody ball = Physics.CreateCircle(radius, mass);

				ball.Position = new Vector(RandomHelper.RandomFloat(-0.5f, 0.5f),

					RandomHelper.RandomFloat(-0.5f, 0.5f), 0.0f);

				ball.Friction = 1.0f;

				ball.IsStatic = false;



				// Set debug color to red.

				ball.DebugColor = Color.Red;



				balls.Add(ball);

			}



			box = Physics.CreateRectangle(

				boxRect.Width, boxRect.Height, 1.0f);

			box.Position = new Vector(.5f, .4f, 0.0f);

			box.IsStatic = false;

			box.Friction = 1.0f;

			box.DebugColor = Color.Green;



			// set our ground

			ground = Physics.CreateRectangle(

				rectangle.Width, rectangle.Height, 1f);

			ground.Position = new Vector(rectangle.Center, 0.0f);

			ground.IsStatic = true;

			ground.Friction = 1.0f;

			ground.DebugColor = Color.Yellow;



			Application.Start(delegate

			{

				//Font.DrawTopLeftInformation("Fps: "+Time.Fps);

			});

		}

		#endregion



		#region TestJoints (Static)

		/// <summary>

		/// Test a simple simulation with 2D physics and joints

		/// </summary>

		[Test]

		public static void TestJoints()

		{

			Physics.Gravity = new Vector(0.0f, 0.0981f, 0.0f);

			// Enable debug drawing

			Physics.DebugEnabled = true;



			// Create some (2 balls and 1 box) and the ground and let them 

			// collide due to gravity

			List<PhysicsBody> balls = new List<PhysicsBody>();



			PhysicsBody box = null;

			PhysicsBody ground = null;

			float radius = 0.05f;

			float mass = 1.0f;



			Rectangle rectangle = new Rectangle(0.1f, 0.65f, 0.8f, 0.1f);

			Rectangle boxRect = new Rectangle(0.0f, 0.0f, 0.05f, 0.05f);



			for (int index = 0; index < 10; index++)

			{

				PhysicsBody ball = Physics.CreateCircle(radius, mass);

				ball.Position = new Vector(RandomHelper.RandomFloat(-0.5f, 0.5f),

					RandomHelper.RandomFloat(-0.5f, 0.5f), 0.0f);

				ball.Friction = 1.0f;

				ball.IsStatic = false;



				// Set debug color to red.

				ball.DebugColor = Color.Red;



				balls.Add(ball);

			} // for



			box = Physics.CreateRectangle(

				boxRect.Width, boxRect.Height, 1.0f);

			box.Position = new Vector(.5f, .4f, 0.0f);

			box.IsStatic = false;

			box.Friction = 1.0f;

			box.DebugColor = Color.Green;



			PhysicsBody box2 = Physics.CreateRectangle(

				boxRect.Width, boxRect.Height, 1.0f);

			box2.Position = new Vector(.6f, .4f, 0.0f);

			box2.IsStatic = false;

			box2.Friction = 1.0f;

			box2.DebugColor = Color.Green;



			// Create angle joint

			PhysicsJoint joint = Physics.CreateAngleJoint(box, box2, 0.0f);



			// set our ground

			ground = Physics.CreateRectangle(

				rectangle.Width, rectangle.Height, 1f);

			ground.Position = new Vector(rectangle.Center, 0.0f);

			ground.IsStatic = true;

			ground.Friction = 1.0f;

			ground.DebugColor = Color.Yellow;



			Application.Start(delegate

			{

				Font.DrawTopLeftInformation("Fps: " + Time.Fps);

			});

		}

		#endregion



		#region TestForceAndTorque (Static)

		/// <summary>

		/// Test a simple simulation with 2D physics with no gravity and

		/// how to apply force and torque

		/// </summary>

		[Test]

		public static void TestForceAndTorque()

		{

			Physics.Gravity = new Vector(0.0f, 0.0981f, 0.0f);

			// Enable debug drawing

			Physics.DebugEnabled = true;



			PhysicsBody box = null;

			PhysicsBody ground = null;



			Rectangle rectangle = new Rectangle(0.1f, 0.65f, 0.8f, 0.1f);

			Rectangle boxRect = new Rectangle(0.0f, 0.0f, 0.05f, 0.05f);



			box = Physics.CreateRectangle(

				boxRect.Width, boxRect.Height, 1.0f);

			box.Position = new Vector(.5f, .4f, 0.0f);

			box.IsStatic = false;

			box.Friction = 1.0f;

			box.DebugColor = Color.Green;



			// Set our ground

			ground = Physics.CreateRectangle(

				rectangle.Width, rectangle.Height, 1f);

			ground.Position = new Vector(rectangle.Center, 0.0f);

			ground.IsStatic = true;

			ground.Friction = 1.0f;

			ground.DebugColor = Color.Yellow;



			// Farseer

			PhysicsBody rectBody = Physics.CreateRectangle(.05f, .05f, 1);

			rectBody.Position = new Vector(0.3f, 0.3f, 0.0f);

			rectBody.IsStatic = false;

			rectBody.DebugColor = Color.Gold;



			Application.Start(delegate

			{

				const float forceAmount = 60;

				const float torqueAmount = 40;

				Vector force = Vector.Zero;



				// Apply left force

				if (Input.Keyboard.IsPressed(InputButton.A))

				{

					force += new Vector(-forceAmount, 0, 0);

				}



				// Apply down force

				if (Input.Keyboard.IsPressed(InputButton.S))

				{

					force += new Vector(0, forceAmount, 0);

				}



				// Apply right force

				if (Input.Keyboard.IsPressed(InputButton.D))

				{

					force += new Vector(forceAmount, 0, 0);

				}



				// Apply up force

				if (Input.Keyboard.IsPressed(InputButton.W))

				{

					force += new Vector(0, -forceAmount, 0);

				}



				rectBody.ApplyForce(force);



				float torque = 0;



				if (Input.Keyboard.IsPressed(InputButton.Q))

				{

					torque += torqueAmount;

				}

				if (Input.Keyboard.IsPressed(InputButton.E))

				{

					torque -= torqueAmount;

				}



				rectBody.ApplyTorque(torque);



				Font.DrawTopLeftInformation("Fps: " + Time.Fps);

			});

		}

		#endregion



		#region TestSingleBodyTwoShapes (Static)

		/// <summary>

		/// Test a simple simulation with 2D physics with no gravity and

		/// single body with two shapes.

		/// </summary>

		[Test]

		public static void TestSingleBodyTwoShapes()

		{

			Physics.Gravity = new Vector(0.0f, 0.0981f, 0.0f);

			// Enable debug drawing

			Physics.DebugEnabled = true;



			//PhysicsBody box = null;

			//PhysicsBody ground = null;



			//Rectangle rectangle = new Rectangle(0.1f, 0.65f, 0.8f, 0.1f);



			//// set our ground

			//ground = Physics.CreateRectangle(

			//    rectangle.Width, rectangle.Height, 1f);

			//ground.Position = new Vector(rectangle.Center, 0.0f);

			//ground.IsStatic = true;

			//ground.Friction = 1.0f;

			//ground.DebugColor = Color.Yellow;



			//// Farseer

			//PhysicsBody rectBody = Physics.Create2DBody(

			//  new Point(0.3f, 0.3f));

			//rectBody.IsStatic = false;



			//Application.Start(delegate

			//{

			//  const float forceAmount = 60;

			//  const float torqueAmount = 40;

			//  Vector force = Vector.Zero;



			//  // Apply left force

			//  if (Input.Keyboard.IsPressed(InputButton.A))

			//  {

			//    force += new Vector(-forceAmount, 0, 0);

			//  }



			//  // Apply down force

			//  if (Input.Keyboard.IsPressed(InputButton.S))

			//  {

			//    force += new Vector(0, forceAmount, 0);

			//  }



			//  // Apply right force

			//  if (Input.Keyboard.IsPressed(InputButton.D))

			//  {

			//    force += new Vector(forceAmount, 0, 0);

			//  }



			//  // Apply up force

			//  if (Input.Keyboard.IsPressed(InputButton.W))

			//  {

			//    force += new Vector(0, -forceAmount, 0);

			//  }



			//  rectBody.ApplyForce(force);



			//  float torque = 0;



			//  if (Input.Keyboard.IsPressed(InputButton.Q))

			//  {

			//    torque += torqueAmount;

			//  }

			//  if (Input.Keyboard.IsPressed(InputButton.E))

			//  {

			//    torque -= torqueAmount;

			//  }



			//  rectBody.ApplyTorque(torque);



			//  //Font.DrawTopLeftInformation(Time.Fps.ToString());

			//});

		}

		#endregion



		#region TestFlummySimulation2D (Static)

		/// <summary>

		/// Test flummy simulation 2D

		/// </summary>

		[Test]

		public static void TestFlummySimulation2D()

		{

			Physics.Gravity = new Vector(0.0f, 0.0981f, 0.0f);

			Physics.DebugEnabled = true;



			// Border properties

			float density = 5.0f;

			float friction = 1.0f;

			float restitution = 1.0f;



			// Border rectangle

			Rectangle leftRect = new Rectangle(0.0f, 0.0f, 0.1f, 1.0f);

			Rectangle topRect = new Rectangle(0.1f, 0.1f, 0.8f, 0.1f);

			Rectangle rightRect = new Rectangle(0.9f, 0.0f, 0.1f, 1.0f);

			Rectangle bottomRect = new Rectangle(0.1f, 0.8f, 0.8f, 0.1f);



			PhysicsBody leftBorder =

				Physics.CreateRectangle(leftRect.Width, leftRect.Height, density);

			leftBorder.Friction = friction;

			leftBorder.Restitution = restitution;

			leftBorder.Position2D = leftRect.Center;

			leftBorder.IsStatic = true;

			leftBorder.DebugColor = Color.White;



			PhysicsBody topBorder =

				Physics.CreateRectangle(topRect.Width, topRect.Height, density);

			topBorder.Friction = friction;

			topBorder.Restitution = restitution;

			topBorder.Position2D = topRect.Center;

			topBorder.IsStatic = true;

			topBorder.DebugColor = Color.White;



			PhysicsBody rightBorder =

				Physics.CreateRectangle(rightRect.Width, rightRect.Height, density);

			rightBorder.Friction = friction;

			rightBorder.Restitution = restitution;

			rightBorder.Position2D = rightRect.Center;

			rightBorder.IsStatic = true;

			rightBorder.DebugColor = Color.White;



			PhysicsBody bottomBorder =

				Physics.CreateRectangle(bottomRect.Width, bottomRect.Height, density);

			bottomBorder.Friction = friction;

			bottomBorder.Restitution = restitution;

			bottomBorder.Position2D = bottomRect.Center;

			bottomBorder.IsStatic = true;



			// Create a ball;

			PhysicsBody ball = Physics.CreateCircle(0.035f, 1.0f);

			ball.Friction = 0.3f;

			ball.Restitution = 1.0f;

			ball.IsStatic = false;

			ball.Position2D = Point.Half;

			ball.DebugColor = Color.CornflowerBlue;



			// The Physics engine performs debug shape draw for us.

			Application.Start();

		}

		#endregion



		#region TestRotatingBall (Static)

		[Test]

		public static void TestRotatingBall()

		{

			const float BallRadius = 0.02f;

			const float BallMass = 1.0f;

			Point startPosition = new Point(0.1f, 0.5f);

			float setRotationVelocity = 180.0f;

			// Disable gravity

			Physics.Gravity = Vector.Zero;



			// Create ball

			var ball = Physics.CreateCircle(BallRadius, BallMass);

			ball.Position2D = startPosition;

			// No friction or restitution, fly ball, fly ;)

			ball.Friction = 0.0f;

			//not longer used: ball.Restitution = 0.0f;

			// Set the body type (the ball should fly, default is static)

			ball.IsStatic = false;



			Material2DColored ballMaterial = new Material2DColored(

				//"SmokeBrightTransparency");

				//"SmokeAdditive");

				"DeltaEngineLogo");



			Application.Start(delegate

			{

				// When we press the mouse or touch the screen, rotate!

				if (Input.Mouse.LeftButtonReleased ||

				    Input.Touch.TouchReleased)

				{

					ball.AngularVelocity2D = setRotationVelocity;

				}

				// Draw the physics shape as a line circle

				//Circle.DrawOutline(ball.Position, ball.Radius, Color.Red);

				ballMaterial.Draw(Rectangle.FromCenter(ball.Position2D,

					ballMaterial.Size), ball.Rotation);



				Font.DrawTopLeftInformation(

					"AngularVelocity=" + ball.AngularVelocity2D +

					", Rotation=" + ball.Rotation);

			});

		}

		#endregion



		#region TestBallMovement (Static)

		/// <summary>

		/// Test ball movement

		/// </summary>

		[Test]

		public static void TestBallMovement()

		{

			const float BallRadius = 0.02f;

			const float BallMass = 1.0f;

			Point startPosition = new Point(0.1f, 0.5f);

			Point setVelocity = new Point(50.0f, 0.0f);

			// Disable gravity

			Physics.Gravity = Vector.Zero;



			// Create ball

			var ball = Physics.CreateCircle(BallRadius, BallMass);

			ball.Position2D = startPosition;

			// No friction or restitution, fly ball, fly ;)

			ball.Friction = 0.0f;

			//not longer used: ball.Restitution = 0.0f;

			// Set the body type (the ball should fly, default is static)

			ball.IsStatic = false;



			Material2D ballMaterial = new Material2D(

				//"SmokeBrightTransparency");

				//"SmokeAdditive");

				"DeltaEngineLogo");

			//Second ball without physics

			Point ballPosition = startPosition + new Point(0, 0.2f);

			Point ballVelocity = Point.Zero;



			Application.Start(delegate

			{

				// When we press, give a velocity to the ball

				if (Input.Mouse.LeftButtonReleased ||

				    Input.Touch.TouchReleased)

				{

					ball.LinearVelocity = new Vector(setVelocity, 0.0f);

					ballVelocity = setVelocity / 1000.0f;

				}

				else if (Input.Mouse.RightButtonReleased)

				{

					ball.Position2D = startPosition;

					ballPosition = startPosition + new Point(0, 0.2f);

				}

				else if (Input.Mouse.MiddleButtonReleased)

				{

					ball.Stop();

				}



				// Draw the physics shape as a line circle

				//Circle.DrawOutline(ball.Position, ball.Radius, Color.Red);

				ballMaterial.Draw(Rectangle.FromCenter(ball.Position2D,

					ballMaterial.Size));



				// And a second ball without physics

				ballMaterial.Draw(Rectangle.FromCenter(ballPosition,

					ballMaterial.Size));



				ballPosition += ballVelocity * Time.Delta;



				if (Input.Keyboard.ShiftIsPressed)

				{

					Font.DrawTopLeftInformation("ballPosition=" + ballPosition);

				}

			});

		}

		#endregion



		#region BugTest (Static)

		/// <summary>

		/// Test method for bug #3496 to check if 2 balls and a box collide properly

		/// </summary>

		[Test]

		public static void BugTest()

		{

			Physics.Gravity = new Vector(0.0f, 0.0981f, 0.0f);

			// Enable debug drawing

			Physics.DebugEnabled = true;



			// Create some (2 balls and 1 box) and the ground and let them 

			// collide due to gravity

			List<PhysicsBody> balls = new List<PhysicsBody>();



			PhysicsBody box = null;

			PhysicsBody ground = null;

			float radius = 0.05f;

			float mass = 1.0f;



			Rectangle rectangle = new Rectangle(0.1f, 0.65f, 0.8f, 0.1f);

			Rectangle boxRect = new Rectangle(0.0f, 0.0f, 0.05f, 0.05f);



			for (int index = 0; index < 10; index++)

			{

				PhysicsBody ball = Physics.CreateCircle(radius, mass);

				ball.Position = new Vector(RandomHelper.RandomFloat(-0.5f, 0.5f),

					RandomHelper.RandomFloat(-0.5f, 0.5f), 0.0f);

				ball.Friction = 1.0f;

				ball.IsStatic = false;



				// Set debug color to red.

				ball.DebugColor = Color.Red;



				balls.Add(ball);

			}



			box = Physics.CreateRectangle(

				boxRect.Width, boxRect.Height, 1.0f);

			box.Position = new Vector(.5f, .4f, 0.0f);

			box.IsStatic = false;

			box.Friction = 1.0f;

			box.DebugColor = Color.Green;



			// set our ground

			ground = Physics.CreateRectangle(

				rectangle.Width, rectangle.Height, 1f);

			ground.Position = new Vector(rectangle.Center, 0.0f);

			ground.IsStatic = true;

			ground.Friction = 1.0f;

			ground.DebugColor = Color.Yellow;



			Application.Start();

		}

		#endregion



		#region TestRayCast (Static)

		/// <summary>

		/// Test ray cast

		/// </summary>

		[Test]

		public static void TestRayCast()

		{

			Physics.Gravity = new Vector(0.0f, 0.0981f, 0.0f);

			// create a plane so that every ray that doesnt hit an object will hit

			// the plane

			//const int size = 24;

			//const int height = -5;



			//// add a plane to the physics world 

			//VisualPhysicsPlane visualPhysicsPlane = new VisualPhysicsPlane(size, size, new Vector(0, 0, height));



			//// create a box and a sphere

			//VisualPhysicsBox visualBox = new VisualPhysicsBox(new Vector(-2, 0, 0), 4);

			//VisualPhysicsSphere visualSphere = new VisualPhysicsSphere(new Vector(5, 0, 0), 2);



			//// this line of code also sets the camera, i.e. ViewProjection matrix

			//LookAtCamera cam = new LookAtCamera(new Vector(0, 25, 10));



			//// create a moving ray

			//Vector rayStart = new Vector(0, 0, 10);

			//Vector lookTarget = new Vector();

			//Ray testRay = new Ray(rayStart, lookTarget - rayStart);



			//Application.Start(delegate

			//{

			//  IPhysicsShape3D catchedObject;

			//  Vector intersection;

			//  Vector normal;



			//  //Draw the sphere and box

			//  visualBox.Draw();

			//  visualSphere.Draw();



			//  // perform ray cast

			//  bool rayCasted = PhysicsManager.RayCast(testRay,

			//      out catchedObject, out intersection, out normal);



			//  // update the objects color according to the result of the ray cast

			//  if (catchedObject == visualBox.PhysicsBox)

			//    visualBox.DebugDrawColor = Color.Red;

			//  else

			//    visualBox.DebugDrawColor = Color.Green;



			//  if (catchedObject == visualSphere.PhysicsSphere)

			//    visualSphere.DebugDrawColor = Color.Red;

			//  else

			//    visualSphere.DebugDrawColor = Color.Green;



			//  //Draw the physics plane

			//  visualPhysicsPlane.Draw();



			//  // render the line according to the deleted intersection

			//  if (rayCasted)

			//  {

			//    // render up to the intersection point

			//    Line.Draw(testRay.Position, intersection, Color.Yellow);



			//    // render the surface normal at this point

			//    Line.Draw(intersection, intersection + normal, Color.White);

			//  }

			//  else

			//  {

			//    Line.Draw(testRay.Position,

			//        testRay.Position + 15.0f * testRay.Direction, Color.Yellow);

			//  }



			//  // update the direction of the ray

			//  lookTarget.X = 8 * (float)Math.Cos(0.3f * Time.CurrentExactTime); ;

			//  lookTarget.Y = 2.0f * (float)Math.Sin(5.0f * Time.CurrentExactTime);

			//  testRay.Direction = Vector.Normalize(lookTarget - testRay.Position);

			//});

		}

		#endregion



		#region TestCollisionEvents (Static)

		/// <summary>

		/// Performs collision check between two bodies with events.

		/// </summary>

		[Test]

		public static void TestCollisionEvents()

		{

			Physics.Gravity = new Vector(0.0f, 0.0981f, 0.0f);

			// Enable debug drawing

			Physics.DebugEnabled = true;



			// Create some (2 balls and 1 box) and the ground and let them 

			// collide due to gravity

			List<PhysicsBody> balls = new List<PhysicsBody>();



			PhysicsBody box = null;

			PhysicsBody ground = null;

			float radius = 0.05f;

			float mass = 1.0f;



			Rectangle rectangle = new Rectangle(0.1f, 0.65f, 0.8f, 0.1f);

			Rectangle boxRect = new Rectangle(0.0f, 0.0f, 0.05f, 0.05f);



			for (int index = 0; index < 10; index++)

			{

				PhysicsBody ball = Physics.CreateCircle(radius, mass);

				ball.Position = new Vector(RandomHelper.RandomFloat(-0.5f, 0.5f),

					RandomHelper.RandomFloat(-0.5f, 0.5f), 0.0f);

				ball.Friction = 1.0f;

				ball.IsStatic = false;



				// Set debug color to red.

				ball.DebugColor = Color.Red;

				ball.Name = "Ball_" + index;

				balls.Add(ball);

			} // for



			box = Physics.CreateRectangle(

				boxRect.Width, boxRect.Height, 1.0f);

			box.Position = new Vector(.5f, .4f, 0.0f);

			box.IsStatic = false;

			box.Friction = 1.0f;

			box.DebugColor = Color.Green;

			box.Name = "Box";



			// set our ground

			ground = Physics.CreateRectangle(

				rectangle.Width, rectangle.Height, 1f);

			ground.Position = new Vector(rectangle.Center, 0.0f);

			ground.IsStatic = true;

			ground.Friction = 1.0f;

			ground.DebugColor = Color.Yellow;

			ground.Name = "PlaneBody";

			ground.CollisionBegin += ground_CollisionBegin;

			ground.CollisionEnd += ground_CollisionEnd;



			Application.Start();

		}

		#endregion



		#region Methods (Private)



		#region ground_CollisionBegin

		private static void ground_CollisionBegin(PhysicsBody other)

		{

			Log.Info(

				string.Format("Given body '{0}' ends collision with this plane body.",

					other.Name)

				);

		}

		#endregion



		#region ground_CollisionEnd

		private static void ground_CollisionEnd(PhysicsBody other)

		{

			Log.Info(

				string.Format("Given body '{0}' collide with this plane body.",

					other.Name)

				);

		}

		#endregion



		#endregion

	}

}