From PNG to Box2D – first attempt
If you followed the posts using marching squares algorithm to trace the contour of an image and reduce the number of points in a polygon with the Ramer-Douglas-Peucker algorithm you probably imagined where I wanted to go… I am going to use Antoan Angelov’s b2Separator class to convert any PNG image to a Box2D body, assuming the PNG has transparency.
Look at the example:
On the left, the original image with the contour traced by marching squares, on the right, the same contour optimized with Ramer-Douglas-Peucker algorithm, and on the bottom the static Box2D body made with b2Separator class using 1/10 of the total vertices to save fixtures.
It’s just an attempt and can be fairly optimized, but it starts to work pretty well.
This is the code, which is just a mix of the codes you can find in the Ramer-Douglas-Peucker algorithm and b2Separator class examples.
package {
import flash.display.Sprite;
import flash.display.BitmapData;
import flash.display.Bitmap;
import flash.geom.Matrix;
import flash.geom.Point;
import flash.events.Event;
import Box2D.Collision.Shapes.*;
import Box2D.Common.Math.*;
import Box2D.Dynamics.*;
import Box2DSeparator.*;
public class Main extends Sprite {
private var bitmapData:BitmapData=new BitmapData(640,480,true,0x00000000);
// tolerance is the amount of alpha for a pixel to be considered solid
private var tolerance:Number=0x01;
var world:b2World, bodyDef:b2BodyDef, body:b2Body, fixtureDef:b2FixtureDef, polyShape:b2PolygonShape, worldCont:Sprite = new Sprite();
public function Main() {
// adding a png image with transparency
bitmapData.draw(new Logo(300,225),new Matrix(1,0,0,1,10,10));
var bitmap:Bitmap=new Bitmap(bitmapData);
addChild(bitmap);
bitmap.alpha=0.5;
// at the end of this function, marchingVector will contain the points tracing the contour
var marchingVector:Vector.<Point>=marchingSquares(bitmapData);
marchingVector=RDP(marchingVector,0.2);
var canvas:Sprite=new Sprite();
addChild(canvas);
canvas.graphics.moveTo(marchingVector[0].x+320,marchingVector[0].y);
for (var i:Number=0; i<marchingVector.length; i++) {
canvas.graphics.lineStyle(2,0xffffff);
canvas.graphics.lineTo(marchingVector[i].x+320,marchingVector[i].y);
canvas.graphics.lineStyle(1,0xff0000);
canvas.graphics.drawCircle(marchingVector[i].x+320,marchingVector[i].y, 2);
}
canvas.graphics.lineStyle(2,0xffffff);
canvas.graphics.lineTo(marchingVector[0].x+320,marchingVector[0].y);
// Box2D's turn;
world=new b2World(new b2Vec2(0,10),true);
debug_draw();
addChild(worldCont);
// Here we create the non-convex polygon! We do it in 5 steps.
// 1) We create a b2Separator instance.
var sep:b2Separator = new b2Separator();
// 2) Then we create a b2Body instance. This is where the fixtures of the non-polygon shape will be stored.
bodyDef = new b2BodyDef();
bodyDef.position.Set(160/30,240/30);
body=world.CreateBody(bodyDef);
// 3) We also need a b2FixtureDef instance, so that the new fixtures can inherit its properties.
fixtureDef = new b2FixtureDef();
fixtureDef.restitution=0.4;
fixtureDef.friction=0.2;
fixtureDef.density=4;
// 4) And what is of most importance - we need a Vector of b2Vec2 instances so that we can pass the vertices!
// Remember, we need the vertices in clockwise order! For more information, read the documentation for the b2Separator.Separate() method.
// Notice how I am reversing the Vector
var vec:Vector.<b2Vec2> = new Vector.<b2Vec2>();
for (i=marchingVector.length-1; i>=0; i--) {
// reducing a bit the polys
if (i%10==0) {
vec.push(new b2Vec2(marchingVector[i].x/30,marchingVector[i].y/30));
}
}
//vec.push(new b2Vec2(-100/30, -100/30), new b2Vec2(100/30, -100/30), new b2Vec2(100/30, 0), new b2Vec2(0, 0), new b2Vec2(-100/30, 100/30));
// If you want to be sure that the vertices are entered correctly, use the b2Separator.Validate() method!
// Refer to the documentation of b2Separate.Validate() to see what it does and the values it returns.
if (sep.Validate(vec)==0) {
trace("Yey! Those vertices are good to go! ("+sep.Validate(vec)+")");
sep.Separate(body, fixtureDef, vec);
}
else {
trace("Oh, I guess you messed something up :( ("+sep.Validate(vec)+")");
}
// 5) And finally, we pass the b2Body, b2FixtureDef and Vector.<b2Vec2> instances as parameters to the Separate() method!
// It separates the non-convex shape into convex shapes, creates the fixtures and adds them to the body for us! Sweet, eh?
//trace(sep.Validate(vec));
//sep.Separate(body, fixtureDef, vec);
// Assigning an event listener, which allows us to call update() every frame.
stage.addEventListener(Event.ENTER_FRAME, update);
}
public function RDP(v:Vector.<Point>,epsilon:Number):Vector.<Point> {
var firstPoint:Point=v[0];
var lastPoint:Point=v[v.length-1];
if (v.length<3) {
return v;
}
var index:Number=-1;
var dist:Number=0;
for (var i:Number=1; i<v.length-1; i++) {
var cDist:Number=findPerpendicularDistance(v[i],firstPoint,lastPoint);
if (cDist>dist) {
dist=cDist;
index=i;
}
}
if (dist>epsilon) {
var l1:Vector.<Point>=v.slice(0,index+1);
var l2:Vector.<Point>=v.slice(index);
var r1=RDP(l1,epsilon);
var r2=RDP(l2,epsilon);
var rs:Vector.<Point>=r1.slice(0,r1.length-1).concat(r2);
return rs;
}
else {
return new Vector.<Point>(firstPoint,lastPoint);
}
return null;
}
private function findPerpendicularDistance(p:Point, p1:Point,p2:Point) {
var result;
var slope;
var intercept;
if (p1.x==p2.x) {
result=Math.abs(p.x-p1.x);
}
else {
slope = (p2.y - p1.y) / (p2.x - p1.x);
intercept=p1.y-(slope*p1.x);
result = Math.abs(slope * p.x - p.y + intercept) / Math.sqrt(Math.pow(slope, 2) + 1);
}
return result;
}
public function marchingSquares(bitmapData:BitmapData):Vector.<Point> {
var contourVector:Vector.<Point> = new Vector.<Point>();
// this is the canvas we'll use to draw the contour
var canvas:Sprite=new Sprite();
addChild(canvas);
canvas.graphics.lineStyle(2,0x00ff00);
// getting the starting pixel;
var startPoint:Point=getStartingPixel(bitmapData);
// if we found a starting pixel we can begin
if (startPoint!=null) {
// moving the graphic pen to the starting pixel
canvas.graphics.moveTo(startPoint.x,startPoint.y);
// pX and pY are the coordinates of the starting point;
var pX:Number=startPoint.x;
var pY:Number=startPoint.y;
// stepX and stepY can be -1, 0 or 1 and represent the step in pixels to reach
// next contour point
var stepX:Number;
var stepY:Number;
// we also need to save the previous step, that's why we use prevX and prevY
var prevX:Number;
var prevY:Number;
// closedLoop will be true once we traced the full contour
var closedLoop:Boolean=false;
while (!closedLoop) {
// the core of the script is getting the 2x2 square value of each pixel
var squareValue:Number=getSquareValue(pX,pY);
switch (squareValue) {
/* going UP with these cases:
+---+---+ +---+---+ +---+---+
| 1 | | | 1 | | | 1 | |
+---+---+ +---+---+ +---+---+
| | | | 4 | | | 4 | 8 |
+---+---+ +---+---+ +---+---+
*/
case 1 :
case 5 :
case 13 :
stepX=0;
stepY=-1;
break;
/* going DOWN with these cases:
+---+---+ +---+---+ +---+---+
| | | | | 2 | | 1 | 2 |
+---+---+ +---+---+ +---+---+
| | 8 | | | 8 | | | 8 |
+---+---+ +---+---+ +---+---+
*/
case 8 :
case 10 :
case 11 :
stepX=0;
stepY=1;
break;
/* going LEFT with these cases:
+---+---+ +---+---+ +---+---+
| | | | | | | | 2 |
+---+---+ +---+---+ +---+---+
| 4 | | | 4 | 8 | | 4 | 8 |
+---+---+ +---+---+ +---+---+
*/
case 4 :
case 12 :
case 14 :
stepX=-1;
stepY=0;
break;
/* going RIGHT with these cases:
+---+---+ +---+---+ +---+---+
| | 2 | | 1 | 2 | | 1 | 2 |
+---+---+ +---+---+ +---+---+
| | | | | | | 4 | |
+---+---+ +---+---+ +---+---+
*/
case 2 :
case 3 :
case 7 :
stepX=1;
stepY=0;
break;
case 6 :
/* special saddle point case 1:
+---+---+
| | 2 |
+---+---+
| 4 | |
+---+---+
going LEFT if coming from UP
else going RIGHT
*/
if (prevX==0&&prevY==-1) {
stepX=-1;
stepY=0;
}
else {
stepX=1;
stepY=0;
}
break;
case 9 :
/* special saddle point case 2:
+---+---+
| 1 | |
+---+---+
| | 8 |
+---+---+
going UP if coming from RIGHT
else going DOWN
*/
if (prevX==1&&prevY==0) {
stepX=0;
stepY=-1;
}
else {
stepX=0;
stepY=1;
}
break;
}
// moving onto next point
pX+=stepX;
pY+=stepY;
// saving contour point
contourVector.push(new Point(pX, pY));
prevX=stepX;
prevY=stepY;
// drawing the line
canvas.graphics.lineTo(pX,pY);
// if we returned to the first point visited, the loop has finished;
if (pX==startPoint.x&&pY==startPoint.y) {
closedLoop=true;
}
}
}
return contourVector;
}
private function getStartingPixel(bitmapData:BitmapData):Point {
// finding the starting pixel is a matter of brute force, we need to scan
// the image pixel by pixel until we find a non-transparent pixel
var zeroPoint:Point=new Point(0,0);
var offsetPoint:Point=new Point(0,0);
for (var i:Number=0; i<bitmapData.height; i++) {
for (var j:Number=0; j<bitmapData.width; j++) {
offsetPoint.x=j;
offsetPoint.y=i;
if (bitmapData.hitTest(zeroPoint,tolerance,offsetPoint)) {
return offsetPoint;
}
}
}
return null;
}
private function getSquareValue(pX:Number,pY:Number):Number {
/*
checking the 2x2 pixel grid, assigning these values to each pixel, if not transparent
+---+---+
| 1 | 2 |
+---+---+
| 4 | 8 | <- current pixel (pX,pY)
+---+---+
*/
var squareValue:Number=0;
// checking upper left pixel
if (getAlphaValue(bitmapData.getPixel32(pX-1,pY-1))>=tolerance) {
squareValue+=1;
}
// checking upper pixel
if (getAlphaValue(bitmapData.getPixel32(pX,pY-1))>tolerance) {
squareValue+=2;
}
// checking left pixel
if (getAlphaValue(bitmapData.getPixel32(pX-1,pY))>tolerance) {
squareValue+=4;
}
// checking the pixel itself
if (getAlphaValue(bitmapData.getPixel32(pX,pY))>tolerance) {
squareValue+=8;
}
return squareValue;
}
private function getAlphaValue(n:Number):Number {
// given an ARGB color value, returns the alpha 0 -> 255
return n >> 24 & 0xFF;
}
public function debug_draw():void {
var debugDraw:b2DebugDraw = new b2DebugDraw();
debugDraw.SetSprite(worldCont);
debugDraw.SetDrawScale(30);
debugDraw.SetFillAlpha(0.5);
debugDraw.SetLineThickness(1);
debugDraw.SetFlags(b2DebugDraw.e_shapeBit|b2DebugDraw.e_centerOfMassBit);
world.SetDebugDraw(debugDraw);
}
private function update(e:Event):void {
world.Step(1/30, 10, 10);
world.ClearForces();
world.DrawDebugData();
}
}
}
How would you optimize the process? Download the source code.
