Java Code Examples for org.jbox2d.dynamics.Body#getTransform()

The following examples show how to use org.jbox2d.dynamics.Body#getTransform() . You can vote up the ones you like or vote down the ones you don't like, and go to the original project or source file by following the links above each example. You may check out the related API usage on the sidebar.
Example 1
Source File: Createbox2d.java    From Form-N-Fun with MIT License 4 votes vote down vote up 
/**
 *  returns body coordinates in pixels
 */
public Vec2 getBodyPixelCoord(Body b) {
    Transform xf = b.getTransform();//body pixels in box2d world
    return coordWorldToPixels(xf.p);// box2d world to pixels
}
Example 2
Source File: Contact.java    From jbox2d with BSD 2-Clause "Simplified" License 4 votes vote down vote up 
public void update(ContactListener listener) {

    oldManifold.set(m_manifold);

    // Re-enable this contact.
    m_flags |= ENABLED_FLAG;

    boolean touching = false;
    boolean wasTouching = (m_flags & TOUCHING_FLAG) == TOUCHING_FLAG;

    boolean sensorA = m_fixtureA.isSensor();
    boolean sensorB = m_fixtureB.isSensor();
    boolean sensor = sensorA || sensorB;

    Body bodyA = m_fixtureA.getBody();
    Body bodyB = m_fixtureB.getBody();
    Transform xfA = bodyA.getTransform();
    Transform xfB = bodyB.getTransform();
    // log.debug("TransformA: "+xfA);
    // log.debug("TransformB: "+xfB);

    if (sensor) {
      Shape shapeA = m_fixtureA.getShape();
      Shape shapeB = m_fixtureB.getShape();
      touching = pool.getCollision().testOverlap(shapeA, m_indexA, shapeB, m_indexB, xfA, xfB);

      // Sensors don't generate manifolds.
      m_manifold.pointCount = 0;
    } else {
      evaluate(m_manifold, xfA, xfB);
      touching = m_manifold.pointCount > 0;

      // Match old contact ids to new contact ids and copy the
      // stored impulses to warm start the solver.
      for (int i = 0; i < m_manifold.pointCount; ++i) {
        ManifoldPoint mp2 = m_manifold.points[i];
        mp2.normalImpulse = 0.0f;
        mp2.tangentImpulse = 0.0f;
        ContactID id2 = mp2.id;

        for (int j = 0; j < oldManifold.pointCount; ++j) {
          ManifoldPoint mp1 = oldManifold.points[j];

          if (mp1.id.isEqual(id2)) {
            mp2.normalImpulse = mp1.normalImpulse;
            mp2.tangentImpulse = mp1.tangentImpulse;
            break;
          }
        }
      }

      if (touching != wasTouching) {
        bodyA.setAwake(true);
        bodyB.setAwake(true);
      }
    }

    if (touching) {
      m_flags |= TOUCHING_FLAG;
    } else {
      m_flags &= ~TOUCHING_FLAG;
    }

    if (listener == null) {
      return;
    }

    if (wasTouching == false && touching == true) {
      listener.beginContact(this);
    }

    if (wasTouching == true && touching == false) {
      listener.endContact(this);
    }

    if (sensor == false && touching) {
      listener.preSolve(this, oldManifold);
    }
  }