#94 Make all field in Body class protected

assessment/src/main/java/com/github/introfog/pie/assessment/collisions/broadphase/applier/MoveShapesAction.java

@@ -54,7 +54,7 @@ protected void domesticApplyAction(List<IBroadPhase> methods, Set<IShape> method
         }
         IShape[] arrayMethodShapes = methodShapes.toArray(new IShape[] {});
         for (int i = 0; i < arrayMethodShapes.length; i += oneMovingBodyOfBodies) {
-            arrayMethodShapes[i].getBody().position.add(offset, i % 2 == 0 ? -1 : 1);
+            arrayMethodShapes[i].getBody().getPosition().add(offset, i % 2 == 0 ? -1 : 1);
         }
     }
 }

assessment/src/main/java/com/github/introfog/pie/assessment/collisions/broadphase/applier/MoveShapesToPointAction.java

@@ -38,21 +38,21 @@ protected void domesticApplyAction(List<IBroadPhase> methods, Set<IShape> method
             callCounter = -iterationOneWay;
         }
 
-        Vector2f center = methodShapes.stream().map(shape -> shape.getBody().position).collect(Collectors.toList()).stream().
+        Vector2f center = methodShapes.stream().map(shape -> shape.getBody().getPosition()).collect(Collectors.toList()).stream().
                 reduce((sum, current) -> {sum.add(current); return sum;}).orElse(new Vector2f());
         center.mul(1.0f / methodShapes.size());
 
         for (IShape shape : methodShapes) {
-            float dist = (float) Math.sqrt(Vector2f.distanceWithoutSqrt(center, shape.getBody().position));
+            float dist = (float) Math.sqrt(Vector2f.distanceWithoutSqrt(center, shape.getBody().getPosition()));
             float cos = 0;
             float sin = 0;
             if (dist != 0) {
-                cos = (shape.getBody().position.x - center.x) / dist;
-                sin = (shape.getBody().position.y - center.y) / dist;
+                cos = (shape.getBody().getPosition().x - center.x) / dist;
+                sin = (shape.getBody().getPosition().y - center.y) / dist;
             }
             Vector2f offset = new Vector2f(cos, sin);
             offset.mul(callCounter > 0 ? offsetValue : -offsetValue);
-            shape.getBody().position.add(offset);
+            shape.getBody().getPosition().add(offset);
         }
     }
 }

core/src/main/java/com/github/introfog/pie/core/World.java

@@ -18,7 +18,6 @@
 import com.github.introfog.pie.core.collisions.Manifold;
 import com.github.introfog.pie.core.collisions.narrowphase.IShapeCollisionHandler;
 import com.github.introfog.pie.core.math.MathPie;
-import com.github.introfog.pie.core.shape.Body;
 import com.github.introfog.pie.core.shape.IShape;
 import com.github.introfog.pie.core.shape.ShapePair;
 
@@ -151,7 +150,7 @@ private void step() {
 
         // Integrate forces
         // Hanna modification Euler's method is used!
-        shapes.forEach(this::integrateForces);
+        shapes.forEach(this::integrateForce);
 
         // Narrow phase
         manifolds.clear();
@@ -182,35 +181,26 @@ private void step() {
 
         // Integrate forces
         // Hanna modification Euler's method is used!
-        shapes.forEach(this::integrateForces);
+        shapes.forEach(this::integrateForce);
 
         // Correct positions
         manifolds.forEach(Manifold::correctPosition);
 
         // Clear all forces
-        shapes.forEach(shape -> shape.getBody().force.set(0f, 0f));
+        shapes.forEach(shape -> shape.getBody().getForce().set(0f, 0f));
     }
 
-    private void integrateForces(IShape shape) {
-        final Body body = shape.getBody();
-        if (body.getInvertedMass() == 0.0f) {
+    private void integrateForce(IShape shape) {
+        if (shape.getBody().getInvertedMass() == 0.0f) {
             return;
         }
-        final float halfDeltaTime = context.getFixedDeltaTime() * 0.5f;
-
-        body.velocity.add(body.force, body.getInvertedMass() * halfDeltaTime);
-        body.velocity.add(context.getGravity(), halfDeltaTime);
-        body.angularVelocity += body.torque * body.getInvertedInertia() * halfDeltaTime;
+        shape.integrateForce(context.getFixedDeltaTime() * 0.5f, context.getGravity());
     }
 
     private void integrateVelocity(IShape shape) {
-        final Body body = shape.getBody();
-        if (body.getInvertedMass() == 0.0f) {
+        if (shape.getBody().getInvertedMass() == 0.0f) {
             return;
         }
-
-        body.position.add(body.velocity, context.getFixedDeltaTime());
-
-        shape.setOrientation(body.getOrientation() + body.angularVelocity * context.getFixedDeltaTime());
+        shape.integrateVelocity(context.getFixedDeltaTime());
     }
 }

core/src/main/java/com/github/introfog/pie/core/collisions/Manifold.java

@@ -55,16 +55,16 @@ public void solve() {
 
         for (int i = 0; i < contactCount; i++) {
             // Calculate the contact points regarding centers
-            Vector2f radA = Vector2f.sub(contacts[i], a.position);
-            Vector2f radB = Vector2f.sub(contacts[i], b.position);
+            Vector2f radA = Vector2f.sub(contacts[i], a.getPosition());
+            Vector2f radB = Vector2f.sub(contacts[i], b.getPosition());
 
             // Calculate the relative velocity
             // Vec2 rv = B->velocity + Cross( B->angularVelocity, rb ) -
             // A->velocity - Cross( A->angularVelocity, ra );
             // relativeVelocity
-            Vector2f rv = Vector2f.sub(b.velocity, a.velocity);
-            rv.add(Vector2f.crossProduct(b.angularVelocity, radB));
-            rv.sub(Vector2f.crossProduct(a.angularVelocity, radA));
+            Vector2f rv = Vector2f.sub(b.getVelocity(), a.getVelocity());
+            rv.add(Vector2f.crossProduct(b.getAngularVelocity(), radB));
+            rv.sub(Vector2f.crossProduct(a.getAngularVelocity(), radA));
 
             // Calculate the relative velocity relative to the normal direction
             float velAlongNormal = Vector2f.dotProduct(rv, normal);
@@ -94,9 +94,9 @@ public void solve() {
             // Friction work
 
             // Recalculation relative speed after application of a normal impulse
-            rv = Vector2f.sub(b.velocity, a.velocity); //relativeVelocity
-            rv.add(Vector2f.crossProduct(b.angularVelocity, radB));
-            rv.sub(Vector2f.crossProduct(a.angularVelocity, radA));
+            rv = Vector2f.sub(b.getVelocity(), a.getVelocity()); //relativeVelocity
+            rv.add(Vector2f.crossProduct(b.getAngularVelocity(), radB));
+            rv.sub(Vector2f.crossProduct(a.getAngularVelocity(), radA));
 
             // Calculate the tangent vector: tangent = rb - dotProduct (rv, normal) * normal
             // Vec2 t = rv - (normal * Dot( rv, normal ));
@@ -135,39 +135,39 @@ public void correctPosition() {
         }
         Vector2f correction = Vector2f.mul(normal, penetration *
                 context.getCorrectPositionPercent() / (a.getInvertedMass() + b.getInvertedMass()));
-        a.position.sub(Vector2f.mul(correction, a.getInvertedMass()));
-        b.position.add(Vector2f.mul(correction, b.getInvertedMass()));
+        a.getPosition().sub(Vector2f.mul(correction, a.getInvertedMass()));
+        b.getPosition().add(Vector2f.mul(correction, b.getInvertedMass()));
     }
 
     private void initializeCollision() {
         // Static friction - is a value that shows how much energy need to apply to moving the body,
         // i.e. this is the threshold, if the energy is lower, then the body is at rest, if higher,
         // then the body moves. Dynamic friction - friction in the usual sense, when bodies rub against
         // each other, they lose part of their energy against each other
-        staticFriction = (float) StrictMath.sqrt(
-                a.staticFriction * a.staticFriction + b.staticFriction * b.staticFriction);
-        dynamicFriction = (float) StrictMath.sqrt(
-                a.dynamicFriction * a.dynamicFriction + b.dynamicFriction * b.dynamicFriction);
+        staticFriction = (float) StrictMath.sqrt(a.getStaticFriction() * a.getStaticFriction() +
+                b.getStaticFriction() * b.getStaticFriction());
+        dynamicFriction = (float) StrictMath.sqrt(a.getDynamicFriction() * a.getDynamicFriction() +
+                b.getDynamicFriction() * b.getDynamicFriction());
 
         // Calculate the elasticity
-        e = Math.min(a.restitution, b.restitution);
+        e = Math.min(a.getRestitution(), b.getRestitution());
 
         for (int i = 0; i < contactCount; ++i) {
             // Calculate radii from COM to contact
             // Vec2 ra = contacts[i] - A->position;
             // Vec2 rb = contacts[i] - B->position;
-            Vector2f radA = Vector2f.sub(contacts[i], a.position);
-            Vector2f radB = Vector2f.sub(contacts[i], b.position);
+            Vector2f radA = Vector2f.sub(contacts[i], a.getPosition());
+            Vector2f radB = Vector2f.sub(contacts[i], b.getPosition());
 
             // Vec2 rv = B->velocity + Cross( B->angularVelocity, rb ) -
             // A->velocity - Cross( A->angularVelocity, ra );
             // Calculate the relative speed
             // Vec2 rv = B->velocity + Cross( B->angularVelocity, rb ) -
             // A->velocity - Cross( A->angularVelocity, ra );
             //relativeVelocity
-            Vector2f rv = Vector2f.sub(b.velocity, a.velocity);
-            rv.add(Vector2f.crossProduct(b.angularVelocity, radB));
-            rv.sub(Vector2f.crossProduct(a.angularVelocity, radA));
+            Vector2f rv = Vector2f.sub(b.getVelocity(), a.getVelocity());
+            rv.add(Vector2f.crossProduct(b.getAngularVelocity(), radB));
+            rv.sub(Vector2f.crossProduct(a.getAngularVelocity(), radA));
 
             // Determine whether should perform a collision with a stop or not.
             // The idea is that the only thing that moves this object is gravity,

core/src/main/java/com/github/introfog/pie/core/collisions/narrowphase/impl/CircleCircleCollisionHandler.java

@@ -37,7 +37,7 @@ public Manifold handleCollision(IShape aShape, IShape bShape, Context context) {
         Circle circleB = (Circle) bShape;
 
         Manifold manifold = new Manifold(circleA, circleB, context);
-        manifold.normal = Vector2f.sub(circleB.getBody().position, circleA.getBody().position);
+        manifold.normal = Vector2f.sub(circleB.getBody().getPosition(), circleA.getBody().getPosition());
         final float distanceWithoutSqrt = manifold.normal.lengthWithoutSqrt();
 
         if (!CircleCircleCollisionHandler.areIntersected(circleA, circleB, distanceWithoutSqrt)) {
@@ -50,12 +50,12 @@ public Manifold handleCollision(IShape aShape, IShape bShape, Context context) {
         manifold.normal.normalize();
         manifold.contacts[0].set(manifold.normal);
         manifold.contacts[0].mul(circleA.getRadius());
-        manifold.contacts[0].add(circleA.getBody().position);
+        manifold.contacts[0].add(circleA.getBody().getPosition());
 
         if (distanceWithoutSqrt == 0) {
             manifold.normal.set(1f, 0f);
             manifold.penetration = circleA.getRadius();
-            manifold.contacts[0].set(circleA.getBody().position);
+            manifold.contacts[0].set(circleA.getBody().getPosition());
         }
 
         return manifold;

core/src/main/java/com/github/introfog/pie/core/collisions/narrowphase/impl/CirclePolygonCollisionHandler.java

@@ -54,8 +54,8 @@ public Manifold handleCollision(IShape aShape, IShape bShape, Context context) {
         Manifold manifold = new Manifold(circleA, polygonB, context);
         // Translate center coordinates to polygon coordinates
         // center = B->u.Transpose( ) * (center - b->position);
-        Vector2f centerA = new Vector2f(circleA.getBody().position);
-        centerA.sub(polygonB.getBody().position);
+        Vector2f centerA = new Vector2f(circleA.getBody().getPosition());
+        centerA.sub(polygonB.getBody().getPosition());
         polygonB.getRotateMatrix().transposeMul(centerA, centerA);
 
         // Looking for the nearest edge of the polygon to the center of the circle,
@@ -105,7 +105,7 @@ public Manifold handleCollision(IShape aShape, IShape bShape, Context context) {
 
             manifold.contacts[0].set(manifold.normal);
             manifold.contacts[0].mul(circleA.getRadius());
-            manifold.contacts[0].add(circleA.getBody().position);
+            manifold.contacts[0].add(circleA.getBody().getPosition());
             manifold.penetration = circleA.getRadius();
             return manifold;
         }
@@ -138,7 +138,7 @@ public Manifold handleCollision(IShape aShape, IShape bShape, Context context) {
             n.normalize();
             manifold.normal.set(n);
             polygonB.getRotateMatrix().mul(v1, v1);
-            v1.add(polygonB.getBody().position);
+            v1.add(polygonB.getBody().getPosition());
             manifold.contacts[0].set(v1);
         } else if (dot2 <= 0f) {
             // Closer to the second vertex
@@ -160,7 +160,7 @@ public Manifold handleCollision(IShape aShape, IShape bShape, Context context) {
             n.normalize();
             manifold.normal.set(n);
             polygonB.getRotateMatrix().mul(v2, v2);
-            v2.add(polygonB.getBody().position);
+            v2.add(polygonB.getBody().getPosition());
             manifold.contacts[0].set(v2);
         } else {
             // Closer to the front vertex
@@ -177,7 +177,7 @@ public Manifold handleCollision(IShape aShape, IShape bShape, Context context) {
             manifold.normal.set(n);
             manifold.contacts[0].set(manifold.normal);
             manifold.contacts[0].mul(circleA.getRadius());
-            manifold.contacts[0].add(circleA.getBody().position);
+            manifold.contacts[0].add(circleA.getBody().getPosition());
         }
         return manifold;
     }

core/src/main/java/com/github/introfog/pie/core/collisions/narrowphase/impl/PolygonPolygonCollisionHandler.java

@@ -100,9 +100,9 @@ public Manifold handleCollision(IShape aShape, IShape bShape, Context context) {
         // v1 = RefPoly->u * v1 + RefPoly->body->position;
         // v2 = RefPoly->u * v2 + RefPoly->body->position;
         refPoly.getRotateMatrix().mul(v1, v1);
-        v1.add(refPoly.getBody().position);
+        v1.add(refPoly.getBody().getPosition());
         refPoly.getRotateMatrix().mul(v2, v2);
-        v2.add(refPoly.getBody().position);
+        v2.add(refPoly.getBody().getPosition());
 
         // Calculate reference face side normal in world space
         // Vec2 sidePlaneNormal = (v2 - v1);
@@ -207,10 +207,10 @@ private void findIncidentFace(Vector2f[] v, Polygon refPoly, Polygon incPoly, in
         // v[1] = IncPoly->u * IncPoly->m_vertices[incidentFace] +
         // IncPoly->body->position;
         incPoly.getRotateMatrix().mul(incPoly.getVertices()[incidentFace], v[0]);
-        v[0].add(incPoly.getBody().position);
+        v[0].add(incPoly.getBody().getPosition());
         incidentFace = incidentFace + 1 >= incPoly.getVertices().length ? 0 : incidentFace + 1;
         incPoly.getRotateMatrix().mul(incPoly.getVertices()[incidentFace], v[1]);
-        v[1].add(incPoly.getBody().position);
+        v[1].add(incPoly.getBody().getPosition());
     }
 
     private int clip(Vector2f n, float c, Vector2f[] face) {
@@ -287,8 +287,8 @@ private static float findAxisLeastPenetration(int[] faceIndex, Polygon polygonA,
             // v = buT * v;
             Vector2f v = new Vector2f(polygonA.getVertices()[i]);
             polygonA.getRotateMatrix().mul(v, v);
-            v.add(polygonA.getBody().position);
-            v.sub(polygonB.getBody().position);
+            v.add(polygonA.getBody().getPosition());
+            v.sub(polygonB.getBody().getPosition());
             polygonB.getRotateMatrix().transposeMul(v, v);
 
             // Calculate penetration (in local coordinates B)