public override void initTest(bool deserialized)
{
if (deserialized)
{
return;
}
Body[] bodies = new Body[e_count];
{
BodyDef bd = new BodyDef();
Body ground = getWorld().createBody(bd);
EdgeShape shape = new EdgeShape();
shape.set(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
ground.createFixture(shape, 0.0f);
}
{
CircleShape shape = new CircleShape();
shape.m_radius = 1.0f;
for (int i = 0; i < e_count; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.position.set(0.0f, 4.0f + 3.0f*i);
bodies[i] = getWorld().createBody(bd);
bodies[i].createFixture(shape, 1.0f);
// m_bodies[i].setLinearVelocity(new Vec2(0.0f, -100.0f));
}
}
}
public override void initTest(bool argDeserialized)
{
// Ground body
{
BodyDef bd = new BodyDef();
Body ground = getWorld().createBody(bd);
EdgeShape shape = new EdgeShape();
shape.set(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
ground.createFixture(shape, 0.0f);
}
// Breakable dynamic body
{
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.position.set(0.0f, 40.0f);
bd.angle = 0.25f*MathUtils.PI;
m_body1 = getWorld().createBody(bd);
m_shape1 = new PolygonShape();
m_shape1.setAsBox(0.5f, 0.5f, new Vec2(-0.5f, 0.0f), 0.0f);
m_piece1 = m_body1.createFixture(m_shape1, 1.0f);
m_shape2 = new PolygonShape();
m_shape2.setAsBox(0.5f, 0.5f, new Vec2(0.5f, 0.0f), 0.0f);
m_piece2 = m_body1.createFixture(m_shape2, 1.0f);
}
m_break = false;
m_broke = false;
}
public override Shape clone()
{
EdgeShape edge = new EdgeShape();
edge.m_radius = this.m_radius;
edge.m_hasVertex0 = this.m_hasVertex0;
edge.m_hasVertex3 = this.m_hasVertex3;
edge.m_vertex0.set(this.m_vertex0);
edge.m_vertex1.set(this.m_vertex1);
edge.m_vertex2.set(this.m_vertex2);
edge.m_vertex3.set(this.m_vertex3);
return edge;
}
public override void initTest(bool deserialized)
{
if (deserialized)
{
return;
}
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = getWorld().createBody(bd);
EdgeShape shape = new EdgeShape();
shape.set(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
ground.createFixture(shape, 0.0f);
}
{
PolygonShape shape = new PolygonShape();
shape.setAsBox(2.0f, 0.5f);
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.position.set(-10.0f, 10.0f);
bd.angle = 0.5f*MathUtils.PI;
bd.allowSleep = false;
Body body = getWorld().createBody(bd);
body.createFixture(shape, 5.0f);
PrismaticJointDef pjd = new PrismaticJointDef();
// Bouncy limit
Vec2 axis = new Vec2(2.0f, 1.0f);
axis.normalize();
pjd.initialize(ground, body, new Vec2(0.0f, 0.0f), axis);
// Non-bouncy limit
// pjd.Initialize(ground, body, Vec2(-10.0f, 10.0f), Vec2(1.0f, 0.0f));
pjd.motorSpeed = 10.0f;
pjd.maxMotorForce = 10000.0f;
pjd.enableMotor = true;
pjd.lowerTranslation = 0.0f;
pjd.upperTranslation = 20.0f;
pjd.enableLimit = true;
m_joint = (PrismaticJoint) getWorld().createJoint(pjd);
}
}
public override void initTest(bool deserialized)
{
if (deserialized)
{
return;
}
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = getWorld().createBody(bd);
EdgeShape shape = new EdgeShape();
shape.set(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
ground.createFixture(shape, 0.0f);
}
{
PolygonShape shape = new PolygonShape();
shape.setAsBox(0.6f, 0.125f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 20.0f;
fd.friction = 0.2f;
RevoluteJointDef jd = new RevoluteJointDef();
jd.collideConnected = false;
float y = 25.0f;
Body prevBody = ground;
for (int i = 0; i < 30; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.position.set(0.5f + i, y);
Body body = getWorld().createBody(bd);
body.createFixture(fd);
Vec2 anchor = new Vec2(i, y);
jd.initialize(prevBody, body, anchor);
getWorld().createJoint(jd);
prevBody = body;
}
}
}
public override void initTest(bool deserialized)
{
if (deserialized)
{
return;
}
// Ground
{
EdgeShape shape = new EdgeShape();
shape.set(new Vec2(-20.0f, 0.0f), new Vec2(20.0f, 0.0f));
getGroundBody().createFixture(shape, 0.0f);
}
// Platform
{
BodyDef bd = new BodyDef();
bd.position.set(-5.0f, 5.0f);
Body body = getWorld().createBody(bd);
PolygonShape shape = new PolygonShape();
shape.setAsBox(10.0f, 0.5f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.friction = 0.8f;
m_platform = body.createFixture(fd);
}
// Boxes
for (int i = 0; i < 5; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.position.set(-10.0f + 2.0f*i, 7.0f);
Body body = m_world.createBody(bd);
PolygonShape shape = new PolygonShape();
shape.setAsBox(0.5f, 0.5f);
body.createFixture(shape, 20.0f);
}
}
public override void initTest(bool deserialized)
{
{
BodyDef bd = new BodyDef();
bd.position.set(0.0f, 0.0f);
Body body = m_world.createBody(bd);
EdgeShape edge = new EdgeShape();
edge.set(new Vec2(-10.0f, 0.0f), new Vec2(10.0f, 0.0f));
body.createFixture(edge, 0.0f);
PolygonShape shape = new PolygonShape();
shape.setAsBox(0.2f, 1.0f, new Vec2(0.5f, 1.0f), 0.0f);
body.createFixture(shape, 0.0f);
}
{
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.position.set(0.0f, 4.0f);
PolygonShape box = new PolygonShape();
box.setAsBox(2.0f, 0.1f);
m_body = m_world.createBody(bd);
m_body.createFixture(box, 1.0f);
box.setAsBox(0.25f, 0.25f);
// m_x = RandomFloat(-1.0f, 1.0f);
m_x = -0.06530577f;
bd.position.set(m_x, 10.0f);
bd.bullet = true;
m_bullet = m_world.createBody(bd);
m_bullet.createFixture(box, 100.0f);
m_bullet.setLinearVelocity(new Vec2(0.0f, -50.0f));
}
}
public override void initTest(bool argDeserialized)
{
{
BodyDef bd = new BodyDef();
bd.position.set(0.0f, 0.0f);
Body body = getWorld().createBody(bd);
EdgeShape shape = new EdgeShape();
shape.set(new Vec2(-10.0f, 0.0f), new Vec2(10.0f, 0.0f));
body.createFixture(shape, 0.0f);
PolygonShape pshape = new PolygonShape();
pshape.setAsBox(0.2f, 1.0f, new Vec2(0.5f, 1.0f), 0.0f);
body.createFixture(pshape, 0.0f);
}
m_poly = new PolygonShape();
m_poly.setAsBox(2.0f, 0.1f);
m_circle = new CircleShape();
m_circle.m_p.setZero();
m_circle.m_radius = 0.5f;
BodyDef bd2 = new BodyDef();
bd2.type = BodyType.DYNAMIC;
bd2.position.set(0.0f, 20.0f);
m_body = getWorld().createBody(bd2);
currFixture = m_body.createFixture(m_poly, 1.0f);
m_angularVelocity = (float) _random.NextDouble()*100 - 50;
m_angularVelocity = 33.468121f;
m_body.setLinearVelocity(new Vec2(0.0f, -100.0f));
m_body.setAngularVelocity(m_angularVelocity);
TimeOfImpact.toiCalls = 0;
TimeOfImpact.toiIters = 0;
TimeOfImpact.toiMaxIters = 0;
TimeOfImpact.toiRootIters = 0;
TimeOfImpact.toiMaxRootIters = 0;
}
public override void initTest(bool argDeserialized)
{
{
BodyDef bd = new BodyDef();
Body ground = getWorld().createBody(bd);
EdgeShape shape = new EdgeShape();
shape.set(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
ground.createFixture(shape, 0.0f);
}
BodyDef bd2 = new BodyDef();
bd2.type = BodyType.DYNAMIC;
bd2.position.set(0.0f, 10.0f);
m_body = getWorld().createBody(bd2);
PolygonShape shape2 = new PolygonShape();
shape2.setAsBox(4.0f, 4.0f, new Vec2(0.0f, 0.0f), 0.0f);
m_fixture1 = m_body.createFixture(shape2, 10.0f);
m_fixture2 = null;
}
public override void initTest(bool deserialized)
{
if (deserialized)
{
return;
}
{
BodyDef bd = new BodyDef();
Body ground = getWorld().createBody(bd);
EdgeShape shape = new EdgeShape();
shape.set(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
ground.createFixture(shape, 0.0f);
}
{
CircleShape shape = new CircleShape();
shape.m_radius = 1.0f;
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 1.0f;
float[] restitution = {0.0f, 0.1f, 0.3f, 0.5f, 0.75f, 0.9f, 1.0f};
for (int i = 0; i < 7; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.position.set(-10.0f + 3.0f*i, 20.0f);
Body body = getWorld().createBody(bd);
fd.restitution = restitution[i];
body.createFixture(fd);
}
}
}
public override void initTest(bool deserialized)
{
{
EdgeShape shape = new EdgeShape();
shape.set(new Vec2(-20.0f, 0.0f), new Vec2(20.0f, 0.0f));
FixtureDef fd = new FixtureDef();
fd.shape = shape;
getGroundBody().createFixture(fd);
}
// Define motorized body
{
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.position.set(0.0f, 8.0f);
Body body = getWorld().createBody(bd);
PolygonShape shape = new PolygonShape();
shape.setAsBox(2.0f, 0.5f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.friction = 0.6f;
fd.density = 2.0f;
body.createFixture(fd);
MotorJointDef mjd = new MotorJointDef();
mjd.initialize(getGroundBody(), body);
mjd.maxForce = 1000.0f;
mjd.maxTorque = 1000.0f;
m_joint = (MotorJoint) m_world.createJoint(mjd);
}
m_go = false;
m_time = 0.0f;
}
public override void initTest(bool deserialized)
{
for (int i = 0; i < m_touching.Length; i++)
{
m_touching[i] = new BoolWrapper();
}
{
BodyDef bd = new BodyDef();
Body ground = getWorld().createBody(bd);
{
EdgeShape shape = new EdgeShape();
shape.set(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
ground.createFixture(shape, 0.0f);
}
{
CircleShape shape = new CircleShape();
shape.m_radius = 5.0f;
shape.m_p.set(0.0f, 10.0f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd._isSensor = true;
m_sensor = ground.createFixture(fd);
}
}
{
CircleShape shape = new CircleShape();
shape.m_radius = 1.0f;
for (int i = 0; i < _e_count; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.position.set(-10.0f + 3.0f*i, 20.0f);
bd.userData = m_touching[i];
m_touching[i].tf = false;
m_bodies[i] = getWorld().createBody(bd);
m_bodies[i].createFixture(shape, 1.0f);
}
}
}
public override void initTest(bool argDeserialized)
{
if (argDeserialized)
{
return;
}
{
BodyDef bd = new BodyDef();
Body ground = getWorld().createBody(bd);
EdgeShape shape = new EdgeShape();
// Floor
shape.set(new Vec2(-10.0f, 0.0f), new Vec2(10.0f, 0.0f));
ground.createFixture(shape, 0.0f);
// Left wall
shape.set(new Vec2(-10.0f, 0.0f), new Vec2(-10.0f, 20.0f));
ground.createFixture(shape, 0.0f);
// Right wall
shape.set(new Vec2(10.0f, 0.0f), new Vec2(10.0f, 20.0f));
ground.createFixture(shape, 0.0f);
// Roof
shape.set(new Vec2(-10.0f, 20.0f), new Vec2(10.0f, 20.0f));
ground.createFixture(shape, 0.0f);
}
float radius = 0.5f;
CircleShape shape2 = new CircleShape();
shape2.m_p.setZero();
shape2.m_radius = radius;
FixtureDef fd = new FixtureDef();
fd.shape = shape2;
fd.density = 1.0f;
fd.friction = 0.1f;
for (int j = 0; j < e_columnCount; ++j)
{
for (int i = 0; i < e_rowCount; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.position.set(-10.0f + (2.1f*j + 1.0f + 0.01f*i)*radius, (2.0f*i + 1.0f)*radius);
Body body = getWorld().createBody(bd);
body.createFixture(fd);
}
}
getWorld().setGravity(new Vec2(0.0f, 0.0f));
}
public override void initTest(bool deserialized)
{
{
BodyDef bd = new BodyDef();
Body ground = m_world.createBody(bd);
ChainShape shape = new ChainShape();
Vec2[] vertices =
new Vec2[] {new Vec2(-20, 0), new Vec2(20, 0), new Vec2(20, 40), new Vec2(-20, 40)};
shape.createLoop(vertices, 4);
ground.createFixture(shape, 0.0f);
}
m_world.setParticleRadius(0.15f);
{
PolygonShape shape = new PolygonShape();
shape.setAsBox(20, 4, new Vec2(0, 36), 0);
ParticleGroupDef pd = new ParticleGroupDef();
pd.flags = ParticleType.b2_tensileParticle | ParticleType.b2_viscousParticle;
pd.shape = shape;
m_world.createParticleGroup(pd);
}
{
BodyDef bd = new BodyDef();
Body body = m_world.createBody(bd);
EdgeShape shape = new EdgeShape();
shape.set(new Vec2(-20, 32), new Vec2(-12, 32));
body.createFixture(shape, 0.1f);
}
{
BodyDef bd = new BodyDef();
Body body = m_world.createBody(bd);
EdgeShape shape = new EdgeShape();
shape.set(new Vec2(-11, 32), new Vec2(20, 32));
body.createFixture(shape, 0.1f);
}
{
BodyDef bd = new BodyDef();
Body body = m_world.createBody(bd);
EdgeShape shape = new EdgeShape();
shape.set(new Vec2(-12, 32), new Vec2(-12, 28));
body.createFixture(shape, 0.1f);
}
{
BodyDef bd = new BodyDef();
Body body = m_world.createBody(bd);
EdgeShape shape = new EdgeShape();
shape.set(new Vec2(-11, 32), new Vec2(-11, 28));
body.createFixture(shape, 0.1f);
}
{
BodyDef bd = new BodyDef();
Body body = m_world.createBody(bd);
EdgeShape shape = new EdgeShape();
shape.set(new Vec2(-16, 24), new Vec2(8, 20));
body.createFixture(shape, 0.1f);
}
{
BodyDef bd = new BodyDef();
Body body = m_world.createBody(bd);
EdgeShape shape = new EdgeShape();
shape.set(new Vec2(16, 16), new Vec2(-8, 12));
body.createFixture(shape, 0.1f);
}
{
BodyDef bd = new BodyDef();
Body body = m_world.createBody(bd);
EdgeShape shape = new EdgeShape();
shape.set(new Vec2(-12, 8), new Vec2(-12, 0));
body.createFixture(shape, 0.1f);
}
{
BodyDef bd = new BodyDef();
Body body = m_world.createBody(bd);
EdgeShape shape = new EdgeShape();
shape.set(new Vec2(-4, 8), new Vec2(-4, 0));
body.createFixture(shape, 0.1f);
}
{
BodyDef bd = new BodyDef();
Body body = m_world.createBody(bd);
EdgeShape shape = new EdgeShape();
shape.set(new Vec2(4, 8), new Vec2(4, 0));
body.createFixture(shape, 0.1f);
}
{
BodyDef bd = new BodyDef();
Body body = m_world.createBody(bd);
EdgeShape shape = new EdgeShape();
shape.set(new Vec2(12, 8), new Vec2(12, 0));
body.createFixture(shape, 0.1f);
}
}
public override void initTest(bool deserialized)
{
if (deserialized)
{
return;
}
// Ground body
{
EdgeShape shape = new EdgeShape();
shape.set(new Vec2(-50.0f, 0.0f), new Vec2(50.0f, 0.0f));
FixtureDef sd = new FixtureDef();
sd.shape = shape;
BodyDef bd = new BodyDef();
Body ground = getWorld().createBody(bd);
ground.createFixture(sd);
}
float xLo = -5.0f, xHi = 5.0f;
float yLo = 2.0f, yHi = 35.0f;
// Small triangle
Vec2[] vertices = new Vec2[3];
vertices[0] = new Vec2(-1.0f, 0.0f);
vertices[1] = new Vec2(1.0f, 0.0f);
vertices[2] = new Vec2(0.0f, 2.0f);
PolygonShape polygon = new PolygonShape();
polygon.set(vertices, 3);
FixtureDef triangleShapeDef = new FixtureDef();
triangleShapeDef.shape = polygon;
triangleShapeDef.density = 1.0f;
BodyDef triangleBodyDef = new BodyDef();
triangleBodyDef.type = BodyType.DYNAMIC;
triangleBodyDef.position.set(MathUtils.randomFloat(xLo, xHi), MathUtils.randomFloat(yLo, yHi));
Body body1 = getWorld().createBody(triangleBodyDef);
body1.createFixture(triangleShapeDef);
// Large triangle (recycle definitions)
vertices[0].mulLocal(2.0f);
vertices[1].mulLocal(2.0f);
vertices[2].mulLocal(2.0f);
polygon.set(vertices, 3);
triangleBodyDef.position.set(MathUtils.randomFloat(xLo, xHi), MathUtils.randomFloat(yLo, yHi));
Body body2 = getWorld().createBody(triangleBodyDef);
body2.createFixture(triangleShapeDef);
// Small box
polygon.setAsBox(1.0f, 0.5f);
FixtureDef boxShapeDef = new FixtureDef();
boxShapeDef.shape = polygon;
boxShapeDef.density = 1.0f;
BodyDef boxBodyDef = new BodyDef();
boxBodyDef.type = BodyType.DYNAMIC;
boxBodyDef.position.set(MathUtils.randomFloat(xLo, xHi), MathUtils.randomFloat(yLo, yHi));
Body body3 = getWorld().createBody(boxBodyDef);
body3.createFixture(boxShapeDef);
// Large box (recycle definitions)
polygon.setAsBox(2.0f, 1.0f);
boxBodyDef.position.set(MathUtils.randomFloat(xLo, xHi), MathUtils.randomFloat(yLo, yHi));
Body body4 = getWorld().createBody(boxBodyDef);
body4.createFixture(boxShapeDef);
// Small circle
CircleShape circle = new CircleShape();
circle.m_radius = 1.0f;
FixtureDef circleShapeDef = new FixtureDef();
circleShapeDef.shape = circle;
circleShapeDef.density = 1.0f;
BodyDef circleBodyDef = new BodyDef();
circleBodyDef.type = BodyType.DYNAMIC;
circleBodyDef.position.set(MathUtils.randomFloat(xLo, xHi), MathUtils.randomFloat(yLo, yHi));
Body body5 = getWorld().createBody(circleBodyDef);
body5.createFixture(circleShapeDef);
// Large circle
circle.m_radius *= 2.0f;
circleBodyDef.position.set(MathUtils.randomFloat(xLo, xHi), MathUtils.randomFloat(yLo, yHi));
Body body6 = getWorld().createBody(circleBodyDef);
body6.createFixture(circleShapeDef);
}
public override void initTest(bool argDeserialized)
{
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = getWorld().createBody(bd);
EdgeShape shape = new EdgeShape();
shape.set(new Vec2(50.0f, 0.0f), new Vec2(-50.0f, 0.0f));
ground.createFixture(shape, 0.0f);
}
{
CircleShape circle1 = new CircleShape();
circle1.m_radius = 1.0f;
PolygonShape box = new PolygonShape();
box.setAsBox(0.5f, 5.0f);
CircleShape circle2 = new CircleShape();
circle2.m_radius = 2.0f;
BodyDef bd1 = new BodyDef();
bd1.type = BodyType.STATIC;
bd1.position.set(10.0f, 9.0f);
Body body1 = m_world.createBody(bd1);
body1.createFixture(circle1, 5.0f);
BodyDef bd2 = new BodyDef();
bd2.type = BodyType.DYNAMIC;
bd2.position.set(10.0f, 8.0f);
Body body2 = m_world.createBody(bd2);
body2.createFixture(box, 5.0f);
BodyDef bd3 = new BodyDef();
bd3.type = BodyType.DYNAMIC;
bd3.position.set(10.0f, 6.0f);
Body body3 = m_world.createBody(bd3);
body3.createFixture(circle2, 5.0f);
RevoluteJointDef jd1 = new RevoluteJointDef();
jd1.initialize(body2, body1, bd1.position);
Joint joint1 = m_world.createJoint(jd1);
RevoluteJointDef jd2 = new RevoluteJointDef();
jd2.initialize(body2, body3, bd3.position);
Joint joint2 = m_world.createJoint(jd2);
GearJointDef jd4 = new GearJointDef();
jd4.bodyA = body1;
jd4.bodyB = body3;
jd4.joint1 = joint1;
jd4.joint2 = joint2;
jd4.ratio = circle2.m_radius/circle1.m_radius;
m_world.createJoint(jd4);
}
{
CircleShape circle1 = new CircleShape();
circle1.m_radius = 1.0f;
CircleShape circle2 = new CircleShape();
circle2.m_radius = 2.0f;
PolygonShape box = new PolygonShape();
box.setAsBox(0.5f, 5.0f);
BodyDef bd1 = new BodyDef();
bd1.type = BodyType.DYNAMIC;
bd1.position.set(-3.0f, 12.0f);
Body body1 = m_world.createBody(bd1);
body1.createFixture(circle1, 5.0f);
RevoluteJointDef jd1 = new RevoluteJointDef();
jd1.bodyA = ground;
jd1.bodyB = body1;
ground.getLocalPointToOut(bd1.position, ref jd1.localAnchorA);
body1.getLocalPointToOut(bd1.position, ref jd1.localAnchorB);
jd1.referenceAngle = body1.getAngle() - ground.getAngle();
m_joint1 = (RevoluteJoint) m_world.createJoint(jd1);
BodyDef bd2 = new BodyDef();
bd2.type = BodyType.DYNAMIC;
bd2.position.set(0.0f, 12.0f);
Body body2 = m_world.createBody(bd2);
body2.createFixture(circle2, 5.0f);
RevoluteJointDef jd2 = new RevoluteJointDef();
jd2.initialize(ground, body2, bd2.position);
m_joint2 = (RevoluteJoint) m_world.createJoint(jd2);
BodyDef bd3 = new BodyDef();
bd3.type = BodyType.DYNAMIC;
bd3.position.set(2.5f, 12.0f);
Body body3 = m_world.createBody(bd3);
body3.createFixture(box, 5.0f);
PrismaticJointDef jd3 = new PrismaticJointDef();
jd3.initialize(ground, body3, bd3.position, new Vec2(0.0f, 1.0f));
jd3.lowerTranslation = -5.0f;
jd3.upperTranslation = 5.0f;
jd3.enableLimit = true;
m_joint3 = (PrismaticJoint) m_world.createJoint(jd3);
GearJointDef jd4 = new GearJointDef();
jd4.bodyA = body1;
jd4.bodyB = body2;
jd4.joint1 = m_joint1;
jd4.joint2 = m_joint2;
jd4.ratio = circle2.m_radius/circle1.m_radius;
m_joint4 = (GearJoint) m_world.createJoint(jd4);
GearJointDef jd5 = new GearJointDef();
jd5.bodyA = body2;
jd5.bodyB = body3;
jd5.joint1 = m_joint2;
jd5.joint2 = m_joint3;
jd5.ratio = 1f/circle2.m_radius;
m_joint5 = (GearJoint) m_world.createJoint(jd5);
}
}
public override void initTest(bool deserialized)
{
{
BodyDef bd = new BodyDef();
Body ground = m_world.createBody(bd);
{
PolygonShape shape = new PolygonShape();
Vec2[] vertices =
new Vec2[] {new Vec2(-40, -10), new Vec2(40, -10), new Vec2(40, 0), new Vec2(-40, 0)};
shape.set(vertices, 4);
ground.createFixture(shape, 0.0f);
}
{
PolygonShape shape = new PolygonShape();
Vec2[] vertices =
new Vec2[] {new Vec2(-40, -1), new Vec2(-20, -1), new Vec2(-20, 20), new Vec2(-40, 30)};
shape.set(vertices, 4);
ground.createFixture(shape, 0.0f);
}
{
PolygonShape shape = new PolygonShape();
Vec2[] vertices =
new Vec2[] {new Vec2(20, -1), new Vec2(40, -1), new Vec2(40, 30), new Vec2(20, 20)};
shape.set(vertices, 4);
ground.createFixture(shape, 0.0f);
}
}
m_world.setParticleRadius(0.2f);
{
PolygonShape shape = new PolygonShape();
shape.setAsBox(20, 10, new Vec2(0, 10), 0);
ParticleGroupDef pd = new ParticleGroupDef();
pd.flags = flags;
pd.shape = shape;
m_world.createParticleGroup(pd);
}
{
BodyDef bd = new BodyDef();
bd.type = BodyType.KINEMATIC;
Body body = m_world.createBody(bd);
circle = body;
CircleShape shape = new CircleShape();
shape.m_p.set(0, 5);
shape.m_radius = 1;
body.createFixture(shape, 0.1f);
body.setLinearVelocity(new Vec2(-6, 0.0f));
}
{
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
Body body = m_world.createBody(bd);
PolygonShape shape = new PolygonShape();
shape.setAsBox(1, 1, new Vec2(-10, 5), 0);
body.createFixture(shape, 0.1f);
}
{
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
Body body = m_world.createBody(bd);
PolygonShape shape = new PolygonShape();
shape.setAsBox(1, 1, new Vec2(10, 5), 0.5f);
body.createFixture(shape, 0.1f);
}
{
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
Body body = m_world.createBody(bd);
EdgeShape shape = new EdgeShape();
shape.set(new Vec2(0, 20), new Vec2(1, 21));
body.createFixture(shape, 0.1f);
}
{
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
Body body = m_world.createBody(bd);
EdgeShape shape = new EdgeShape();
shape.set(new Vec2(3, 20), new Vec2(4, 21));
body.createFixture(shape, 0.1f);
}
{
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
Body body = m_world.createBody(bd);
EdgeShape shape = new EdgeShape();
shape.set(new Vec2(-3, 21), new Vec2(-2, 20));
body.createFixture(shape, 0.1f);
}
}
public override void initTest(bool argDeserialized)
{
if (argDeserialized)
{
return;
}
m_offset.set(0.0f, 8.0f);
m_motorSpeed = 2.0f;
m_motorOn = true;
Vec2 pivot = new Vec2(0.0f, 0.8f);
// Ground
{
BodyDef bd = new BodyDef();
Body ground = getWorld().createBody(bd);
EdgeShape shape = new EdgeShape();
shape.set(new Vec2(-50.0f, 0.0f), new Vec2(50.0f, 0.0f));
ground.createFixture(shape, 0.0f);
shape.set(new Vec2(-50.0f, 0.0f), new Vec2(-50.0f, 10.0f));
ground.createFixture(shape, 0.0f);
shape.set(new Vec2(50.0f, 0.0f), new Vec2(50.0f, 10.0f));
ground.createFixture(shape, 0.0f);
}
// Balls
for (int i = 0; i < 40; ++i)
{
CircleShape shape = new CircleShape();
shape.m_radius = 0.25f;
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.position.set(-40.0f + 2.0f*i, 0.5f);
Body body = getWorld().createBody(bd);
body.createFixture(shape, 1.0f);
}
// Chassis
{
PolygonShape shape = new PolygonShape();
shape.setAsBox(2.5f, 1.0f);
FixtureDef sd = new FixtureDef();
sd.density = 1.0f;
sd.shape = shape;
sd.filter.groupIndex = -1;
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.position.set(pivot);
bd.position.addLocal(m_offset);
m_chassis = getWorld().createBody(bd);
m_chassis.createFixture(sd);
}
{
CircleShape shape = new CircleShape();
shape.m_radius = 1.6f;
FixtureDef sd = new FixtureDef();
sd.density = 1.0f;
sd.shape = shape;
sd.filter.groupIndex = -1;
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.position.set(pivot);
bd.position.addLocal(m_offset);
m_wheel = getWorld().createBody(bd);
m_wheel.createFixture(sd);
}
{
RevoluteJointDef jd = new RevoluteJointDef();
jd.initialize(m_wheel, m_chassis, pivot.add(m_offset));
jd.collideConnected = false;
jd.motorSpeed = m_motorSpeed;
jd.maxMotorTorque = 400.0f;
jd.enableMotor = m_motorOn;
m_motorJoint = (RevoluteJoint) getWorld().createJoint(jd);
}
Vec2 wheelAnchor;
wheelAnchor = pivot.add(new Vec2(0.0f, -0.8f));
createLeg(-1.0f, wheelAnchor);
createLeg(1.0f, wheelAnchor);
m_wheel.setTransform(m_wheel.getPosition(), 120.0f*MathUtils.PI/180.0f);
createLeg(-1.0f, wheelAnchor);
createLeg(1.0f, wheelAnchor);
m_wheel.setTransform(m_wheel.getPosition(), -120.0f*MathUtils.PI/180.0f);
createLeg(-1.0f, wheelAnchor);
createLeg(1.0f, wheelAnchor);
}
public override void initTest(bool deserialized)
{
if (deserialized)
{
return;
}
{
BodyDef bd = new BodyDef();
Body ground = getWorld().createBody(bd);
EdgeShape shape = new EdgeShape();
// shape.setAsBox(40, 10, new Vec2(0,-10), 0);
shape.set(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
ground.createFixture(shape, 0.0f);
shape.set(new Vec2(20.0f, 0.0f), new Vec2(20.0f, 20.0f));
ground.createFixture(shape, 0.0f);
}
float[] xs = new float[] {0.0f, -10.0f, -5.0f, 5.0f, 10.0f};
for (int j = 0; j < e_columnCount; ++j)
{
PolygonShape shape = new PolygonShape();
shape.setAsBox(0.5f, 0.5f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 1.0f;
fd.friction = 0.3f;
for (int i = 0; i < e_rowCount; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
int n = j*e_rowCount + i;
Debug.Assert(n < e_rowCount*e_columnCount);
float x = 0.0f;
// float x = RandomFloat(-0.02f, 0.02f);
// float x = i % 2 == 0 ? -0.025f : 0.025f;
bd.position.set(xs[j] + x, 0.752f + 1.54f*i);
Body body = getWorld().createBody(bd);
body.createFixture(fd);
}
}
m_bullet = null;
}
public override void initTest(bool deserialized)
{
if (deserialized)
{
return;
}
m_hz = 4.0f;
m_zeta = 0.7f;
m_speed = 50.0f;
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = m_world.createBody(bd);
EdgeShape shape = new EdgeShape();
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 0.0f;
fd.friction = 0.6f;
shape.set(new Vec2(-20.0f, 0.0f), new Vec2(20.0f, 0.0f));
ground.createFixture(fd);
float[] hs = {0.25f, 1.0f, 4.0f, 0.0f, 0.0f, -1.0f, -2.0f, -2.0f, -1.25f, 0.0f};
float x = 20.0f, y1 = 0.0f, dx = 5.0f;
for (int i = 0; i < 10; ++i)
{
float y2 = hs[i];
shape.set(new Vec2(x, y1), new Vec2(x + dx, y2));
ground.createFixture(fd);
y1 = y2;
x += dx;
}
for (int i = 0; i < 10; ++i)
{
float y2 = hs[i];
shape.set(new Vec2(x, y1), new Vec2(x + dx, y2));
ground.createFixture(fd);
y1 = y2;
x += dx;
}
shape.set(new Vec2(x, 0.0f), new Vec2(x + 40.0f, 0.0f));
ground.createFixture(fd);
x += 80.0f;
shape.set(new Vec2(x, 0.0f), new Vec2(x + 40.0f, 0.0f));
ground.createFixture(fd);
x += 40.0f;
shape.set(new Vec2(x, 0.0f), new Vec2(x + 10.0f, 5.0f));
ground.createFixture(fd);
x += 20.0f;
shape.set(new Vec2(x, 0.0f), new Vec2(x + 40.0f, 0.0f));
ground.createFixture(fd);
x += 40.0f;
shape.set(new Vec2(x, 0.0f), new Vec2(x, 20.0f));
ground.createFixture(fd);
}
// Teeter
{
BodyDef bd = new BodyDef();
bd.position.set(140.0f, 1.0f);
bd.type = BodyType.DYNAMIC;
Body body = m_world.createBody(bd);
PolygonShape box = new PolygonShape();
box.setAsBox(10.0f, 0.25f);
body.createFixture(box, 1.0f);
RevoluteJointDef jd = new RevoluteJointDef();
jd.initialize(ground, body, body.getPosition());
jd.lowerAngle = -8.0f*MathUtils.PI/180.0f;
jd.upperAngle = 8.0f*MathUtils.PI/180.0f;
jd.enableLimit = true;
m_world.createJoint(jd);
body.applyAngularImpulse(100.0f);
}
// Bridge
{
int N = 20;
PolygonShape shape = new PolygonShape();
shape.setAsBox(1.0f, 0.125f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 1.0f;
fd.friction = 0.6f;
RevoluteJointDef jd = new RevoluteJointDef();
Body prevBody = ground;
for (int i = 0; i < N; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.position.set(161.0f + 2.0f*i, -0.125f);
Body body = m_world.createBody(bd);
body.createFixture(fd);
Vec2 anchor = new Vec2(160.0f + 2.0f*i, -0.125f);
jd.initialize(prevBody, body, anchor);
m_world.createJoint(jd);
prevBody = body;
}
Vec2 anchor2 = new Vec2(160.0f + 2.0f*N, -0.125f);
jd.initialize(prevBody, ground, anchor2);
m_world.createJoint(jd);
}
// Boxes
{
PolygonShape box = new PolygonShape();
box.setAsBox(0.5f, 0.5f);
Body body = null;
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.position.set(230.0f, 0.5f);
body = m_world.createBody(bd);
body.createFixture(box, 0.5f);
bd.position.set(230.0f, 1.5f);
body = m_world.createBody(bd);
body.createFixture(box, 0.5f);
bd.position.set(230.0f, 2.5f);
body = m_world.createBody(bd);
body.createFixture(box, 0.5f);
bd.position.set(230.0f, 3.5f);
body = m_world.createBody(bd);
body.createFixture(box, 0.5f);
bd.position.set(230.0f, 4.5f);
body = m_world.createBody(bd);
body.createFixture(box, 0.5f);
}
// Car
{
PolygonShape chassis = new PolygonShape();
Vec2[] vertices = new Vec2[8];
vertices[0] = new Vec2(-1.5f, -0.5f);
vertices[1] = new Vec2(1.5f, -0.5f);
vertices[2] = new Vec2(1.5f, 0.0f);
vertices[3] = new Vec2(0.0f, 0.9f);
vertices[4] = new Vec2(-1.15f, 0.9f);
vertices[5] = new Vec2(-1.5f, 0.2f);
chassis.set(vertices, 6);
CircleShape circle = new CircleShape();
circle.m_radius = 0.4f;
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.position.set(0.0f, 1.0f);
m_car = m_world.createBody(bd);
m_car.createFixture(chassis, 1.0f);
FixtureDef fd = new FixtureDef();
fd.shape = circle;
fd.density = 1.0f;
fd.friction = 0.9f;
bd.position.set(-1.0f, 0.35f);
m_wheel1 = m_world.createBody(bd);
m_wheel1.createFixture(fd);
bd.position.set(1.0f, 0.4f);
m_wheel2 = m_world.createBody(bd);
m_wheel2.createFixture(fd);
WheelJointDef jd = new WheelJointDef();
Vec2 axis = new Vec2(0.0f, 1.0f);
jd.initialize(m_car, m_wheel1, m_wheel1.getPosition(), axis);
jd.motorSpeed = 0.0f;
jd.maxMotorTorque = 20.0f;
jd.enableMotor = true;
jd.frequencyHz = m_hz;
jd.dampingRatio = m_zeta;
m_spring1 = (WheelJoint) m_world.createJoint(jd);
jd.initialize(m_car, m_wheel2, m_wheel2.getPosition(), axis);
jd.motorSpeed = 0.0f;
jd.maxMotorTorque = 10.0f;
jd.enableMotor = false;
jd.frequencyHz = m_hz;
jd.dampingRatio = m_zeta;
m_spring2 = (WheelJoint) m_world.createJoint(jd);
}
}
/**
* Get a child edge.
*/
public void getChildEdge(EdgeShape edge, int index)
{
Debug.Assert(0 <= index && index < m_count - 1);
edge.m_radius = m_radius;
Vec2 v0 = m_vertices[index + 0];
Vec2 v1 = m_vertices[index + 1];
edge.m_vertex1.x = v0.x;
edge.m_vertex1.y = v0.y;
edge.m_vertex2.x = v1.x;
edge.m_vertex2.y = v1.y;
if (index > 0)
{
Vec2 v = m_vertices[index - 1];
edge.m_vertex0.x = v.x;
edge.m_vertex0.y = v.y;
edge.m_hasVertex0 = true;
}
else
{
edge.m_vertex0.x = m_prevVertex.x;
edge.m_vertex0.y = m_prevVertex.y;
edge.m_hasVertex0 = m_hasPrevVertex;
}
if (index < m_count - 2)
{
Vec2 v = m_vertices[index + 2];
edge.m_vertex3.x = v.x;
edge.m_vertex3.y = v.y;
edge.m_hasVertex3 = true;
}
else
{
edge.m_vertex3.x = m_nextVertex.x;
edge.m_vertex3.y = m_nextVertex.y;
edge.m_hasVertex3 = m_hasNextVertex;
}
}
public override void initTest(bool deserialized)
{
//m_state = State.e_unknown;
if (deserialized)
{
return;
}
// Ground
{
BodyDef bd = new BodyDef();
Body ground = getWorld().createBody(bd);
EdgeShape shape = new EdgeShape();
shape.set(new Vec2(-20.0f, 0.0f), new Vec2(20.0f, 0.0f));
ground.createFixture(shape, 0.0f);
}
// Platform
{
BodyDef bd = new BodyDef();
bd.position.set(0.0f, 10.0f);
Body body = getWorld().createBody(bd);
PolygonShape shape = new PolygonShape();
shape.setAsBox(3.0f, 0.5f);
m_platform = body.createFixture(shape, 0.0f);
//m_bottom = 10.0f - 0.5f;
m_top = 10.0f + 0.5f;
}
// Actor
{
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.position.set(0.0f, 12.0f);
Body body = getWorld().createBody(bd);
m_radius = 0.5f;
CircleShape shape = new CircleShape();
shape.m_radius = m_radius;
m_character = body.createFixture(shape, 20.0f);
body.setLinearVelocity(new Vec2(0.0f, -50.0f));
//m_state = State.e_unknown;
}
}
public override void initTest(bool deserialized)
{
if (deserialized)
{
return;
}
getWorld().setGravity(new Vec2(0.0f, 0.0f));
float k_restitution = 0.4f;
Body ground;
{
BodyDef bd = new BodyDef();
bd.position.set(0.0f, 20.0f);
ground = getWorld().createBody(bd);
EdgeShape shape = new EdgeShape();
FixtureDef sd = new FixtureDef();
sd.shape = shape;
sd.density = 0.0f;
sd.restitution = k_restitution;
// Left vertical
shape.set(new Vec2(-20.0f, -20.0f), new Vec2(-20.0f, 20.0f));
ground.createFixture(sd);
// Right vertical
shape.set(new Vec2(20.0f, -20.0f), new Vec2(20.0f, 20.0f));
ground.createFixture(sd);
// Top horizontal
shape.set(new Vec2(-20.0f, 20.0f), new Vec2(20.0f, 20.0f));
ground.createFixture(sd);
// Bottom horizontal
shape.set(new Vec2(-20.0f, -20.0f), new Vec2(20.0f, -20.0f));
ground.createFixture(sd);
}
{
Transform xf1 = new Transform();
xf1.q.set(0.3524f*MathUtils.PI);
Rot.mulToOutUnsafe(xf1.q, new Vec2(1.0f, 0.0f), ref xf1.p);
Vec2[] vertices = new Vec2[3];
vertices[0] = Transform.mul(xf1, new Vec2(-1.0f, 0.0f));
vertices[1] = Transform.mul(xf1, new Vec2(1.0f, 0.0f));
vertices[2] = Transform.mul(xf1, new Vec2(0.0f, 0.5f));
PolygonShape poly1 = new PolygonShape();
poly1.set(vertices, 3);
FixtureDef sd1 = new FixtureDef();
sd1.shape = poly1;
sd1.density = 4.0f;
Transform xf2 = new Transform();
xf2.q.set(-0.3524f*MathUtils.PI);
Rot.mulToOut(xf2.q, new Vec2(-1.0f, 0.0f), ref xf2.p);
vertices[0] = Transform.mul(xf2, new Vec2(-1.0f, 0.0f));
vertices[1] = Transform.mul(xf2, new Vec2(1.0f, 0.0f));
vertices[2] = Transform.mul(xf2, new Vec2(0.0f, 0.5f));
PolygonShape poly2 = new PolygonShape();
poly2.set(vertices, 3);
FixtureDef sd2 = new FixtureDef();
sd2.shape = poly2;
sd2.density = 2.0f;
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.angularDamping = 2.0f;
bd.linearDamping = 0.5f;
bd.position.set(0.0f, 2.0f);
bd.angle = MathUtils.PI;
bd.allowSleep = false;
m_body = getWorld().createBody(bd);
m_body.createFixture(sd1);
m_body.createFixture(sd2);
}
{
PolygonShape shape = new PolygonShape();
shape.setAsBox(0.5f, 0.5f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 1.0f;
fd.friction = 0.3f;
for (int i = 0; i < 10; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.position.set(0.0f, 5.0f + 1.54f*i);
Body body = getWorld().createBody(bd);
body.createFixture(fd);
float gravity = 10.0f;
float I = body.getInertia();
float mass = body.getMass();
// For a circle: I = 0.5 * m * r * r ==> r = sqrt(2 * I / m)
float radius = MathUtils.sqrt(2.0f*I/mass);
FrictionJointDef jd = new FrictionJointDef();
jd.localAnchorA.setZero();
jd.localAnchorB.setZero();
jd.bodyA = ground;
jd.bodyB = body;
jd.collideConnected = true;
jd.maxForce = mass*gravity;
jd.maxTorque = mass*radius*gravity;
getWorld().createJoint(jd);
}
}
}
public override void initTest(bool argDeserialized)
{
for (int i = 0; i < m_bodies.Length; i++)
{
m_bodies[i] = null;
}
// Ground body
{
BodyDef bd = new BodyDef();
Body ground = getWorld().createBody(bd);
float x1 = -20.0f;
float y1 = 2.0f*MathUtils.cos(x1/10.0f*MathUtils.PI);
for (int i = 0; i < 80; ++i)
{
float x2 = x1 + 0.5f;
float y2 = 2.0f*MathUtils.cos(x2/10.0f*MathUtils.PI);
EdgeShape shape = new EdgeShape();
shape.set(new Vec2(x1, y1), new Vec2(x2, y2));
ground.createFixture(shape, 0.0f);
x1 = x2;
y1 = y2;
}
}
{
Vec2[] vertices = new Vec2[3];
vertices[0] = new Vec2(-0.5f, 0.0f);
vertices[1] = new Vec2(0.5f, 0.0f);
vertices[2] = new Vec2(0.0f, 1.5f);
m_polygons[0] = new PolygonShape();
m_polygons[0].set(vertices, 3);
}
{
Vec2[] vertices = new Vec2[3];
vertices[0] = new Vec2(-0.1f, 0.0f);
vertices[1] = new Vec2(0.1f, 0.0f);
vertices[2] = new Vec2(0.0f, 1.5f);
m_polygons[1] = new PolygonShape();
m_polygons[1].set(vertices, 3);
}
{
float w = 1.0f;
float b = w/(2.0f + MathUtils.sqrt(2.0f));
float s = MathUtils.sqrt(2.0f)*b;
Vec2[] vertices = new Vec2[8];
vertices[0] = new Vec2(0.5f*s, 0.0f);
vertices[1] = new Vec2(0.5f*w, b);
vertices[2] = new Vec2(0.5f*w, b + s);
vertices[3] = new Vec2(0.5f*s, w);
vertices[4] = new Vec2(-0.5f*s, w);
vertices[5] = new Vec2(-0.5f*w, b + s);
vertices[6] = new Vec2(-0.5f*w, b);
vertices[7] = new Vec2(-0.5f*s, 0.0f);
m_polygons[2] = new PolygonShape();
m_polygons[2].set(vertices, 8);
}
{
m_polygons[3] = new PolygonShape();
m_polygons[3].setAsBox(0.5f, 0.5f);
}
{
m_circle = new CircleShape();
m_circle.m_radius = 0.5f;
}
m_bodyIndex = 0;
m_angle = 0.0f;
}
public override void initTest(bool argDeserialized)
{
// Ground body
{
BodyDef bd = new BodyDef();
Body ground = getWorld().createBody(bd);
EdgeShape shape = new EdgeShape();
shape.set(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
ground.createFixture(shape, 0.0f);
}
{
Vec2[] vertices = new Vec2[3];
vertices[0] = new Vec2(-0.5f, 0.0f);
vertices[1] = new Vec2(0.5f, 0.0f);
vertices[2] = new Vec2(0.0f, 1.5f);
m_polygons[0] = new PolygonShape();
m_polygons[0].set(vertices, 3);
}
{
Vec2[] vertices = new Vec2[3];
vertices[0] = new Vec2(-0.1f, 0.0f);
vertices[1] = new Vec2(0.1f, 0.0f);
vertices[2] = new Vec2(0.0f, 1.5f);
m_polygons[1] = new PolygonShape();
m_polygons[1].set(vertices, 3);
}
{
float w = 1.0f;
float b = w/(2.0f + MathUtils.sqrt(2.0f));
float s = MathUtils.sqrt(2.0f)*b;
Vec2[] vertices = new Vec2[8];
vertices[0] = new Vec2(0.5f*s, 0.0f);
vertices[1] = new Vec2(0.5f*w, b);
vertices[2] = new Vec2(0.5f*w, b + s);
vertices[3] = new Vec2(0.5f*s, w);
vertices[4] = new Vec2(-0.5f*s, w);
vertices[5] = new Vec2(-0.5f*w, b + s);
vertices[6] = new Vec2(-0.5f*w, b);
vertices[7] = new Vec2(-0.5f*s, 0.0f);
m_polygons[2] = new PolygonShape();
m_polygons[2].set(vertices, 8);
}
{
m_polygons[3] = new PolygonShape();
m_polygons[3].setAsBox(0.5f, 0.5f);
}
{
m_circle = new CircleShape();
m_circle.m_radius = 0.5f;
}
m_bodyIndex = 0;
}
public override void initTest(bool deserialized)
{
if (deserialized)
{
return;
}
{
BodyDef bd = new BodyDef();
bd.position.set(0.0f, 0.0f);
Body body = getWorld().createBody(bd);
EdgeShape shape = new EdgeShape();
shape.set(new Vec2(50.0f, 0.0f), new Vec2(-50.0f, 0.0f));
body.createFixture(shape, 0.0f);
}
{
CircleShape circle1 = new CircleShape();
circle1.m_radius = 0.5f;
circle1.m_p.set(-0.5f, 0.5f);
CircleShape circle2 = new CircleShape();
;
circle2.m_radius = 0.5f;
circle2.m_p.set(0.5f, 0.5f);
for (int i = 0; i < 10; ++i)
{
float x = MathUtils.randomFloat(-0.1f, 0.1f);
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.position.set(x + 5.0f, 1.05f + 2.5f*i);
bd.angle = MathUtils.randomFloat(-MathUtils.PI, MathUtils.PI);
Body body = getWorld().createBody(bd);
body.createFixture(circle1, 2.0f);
body.createFixture(circle2, 0.0f);
}
}
{
PolygonShape polygon1 = new PolygonShape();
polygon1.setAsBox(0.25f, 0.5f);
PolygonShape polygon2 = new PolygonShape();
polygon2.setAsBox(0.25f, 0.5f, new Vec2(0.0f, -0.5f), 0.5f*MathUtils.PI);
for (int i = 0; i < 10; ++i)
{
float x = MathUtils.randomFloat(-0.1f, 0.1f);
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.position.set(x - 5.0f, 1.05f + 2.5f*i);
bd.angle = MathUtils.randomFloat(-MathUtils.PI, MathUtils.PI);
Body body = getWorld().createBody(bd);
body.createFixture(polygon1, 2.0f);
body.createFixture(polygon2, 2.0f);
}
}
{
Transform xf1 = new Transform();
xf1.q.set(0.3524f*MathUtils.PI);
Rot.mulToOut(xf1.q, new Vec2(1.0f, 0.0f), ref xf1.p);
Vec2[] vertices = new Vec2[3];
PolygonShape triangle1 = new PolygonShape();
vertices[0] = Transform.mul(xf1, new Vec2(-1.0f, 0.0f));
vertices[1] = Transform.mul(xf1, new Vec2(1.0f, 0.0f));
vertices[2] = Transform.mul(xf1, new Vec2(0.0f, 0.5f));
triangle1.set(vertices, 3);
Transform xf2 = new Transform();
xf2.q.set(-0.3524f*MathUtils.PI);
Rot.mulToOut(xf2.q, new Vec2(-1.0f, 0.0f), ref xf2.p);
PolygonShape triangle2 = new PolygonShape();
vertices[0] = Transform.mul(xf2, new Vec2(-1.0f, 0.0f));
vertices[1] = Transform.mul(xf2, new Vec2(1.0f, 0.0f));
vertices[2] = Transform.mul(xf2, new Vec2(0.0f, 0.5f));
triangle2.set(vertices, 3);
for (int i = 0; i < 10; ++i)
{
float x = MathUtils.randomFloat(-0.1f, 0.1f);
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.position.set(x, 2.05f + 2.5f*i);
bd.angle = 0.0f;
Body body = getWorld().createBody(bd);
body.createFixture(triangle1, 2.0f);
body.createFixture(triangle2, 2.0f);
}
}
{
PolygonShape bottom = new PolygonShape();
bottom.setAsBox(1.5f, 0.15f);
PolygonShape left = new PolygonShape();
left.setAsBox(0.15f, 2.7f, new Vec2(-1.45f, 2.35f), 0.2f);
PolygonShape right = new PolygonShape();
right.setAsBox(0.15f, 2.7f, new Vec2(1.45f, 2.35f), -0.2f);
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.position.set(0.0f, 2.0f);
Body body = getWorld().createBody(bd);
body.createFixture(bottom, 4.0f);
body.createFixture(left, 4.0f);
body.createFixture(right, 4.0f);
}
}
public override void initTest(bool argDeserialized)
{
if (argDeserialized)
{
return;
}
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = getWorld().createBody(bd);
EdgeShape shape = new EdgeShape();
shape.set(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
ground.createFixture(shape, 0.0f);
}
{
PolygonShape shape = new PolygonShape();
shape.setAsBox(0.5f, 0.125f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 20.0f;
WeldJointDef jd = new WeldJointDef();
Body prevBody = ground;
for (int i = 0; i < e_count; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.position.set(-14.5f + 1.0f*i, 5.0f);
Body body = getWorld().createBody(bd);
body.createFixture(fd);
Vec2 anchor = new Vec2(-15.0f + 1.0f*i, 5.0f);
jd.initialize(prevBody, body, anchor);
getWorld().createJoint(jd);
prevBody = body;
}
}
{
PolygonShape shape = new PolygonShape();
shape.setAsBox(1f, 0.125f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 20.0f;
WeldJointDef jd = new WeldJointDef();
jd.frequencyHz = 5f;
jd.dampingRatio = .7f;
Body prevBody = ground;
for (int i = 0; i < 3; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.position.set(-14.0f + 2.0f*i, 15.0f);
Body body = getWorld().createBody(bd);
body.createFixture(fd);
Vec2 anchor = new Vec2(-15.0f + 2.0f*i, 15.0f);
jd.initialize(prevBody, body, anchor);
getWorld().createJoint(jd);
prevBody = body;
}
}
{
PolygonShape shape = new PolygonShape();
shape.setAsBox(0.5f, 0.125f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 20.0f;
WeldJointDef jd = new WeldJointDef();
Body prevBody = ground;
for (int i = 0; i < e_count; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.position.set(-4.5f + 1.0f*i, 5.0f);
Body body = getWorld().createBody(bd);
body.createFixture(fd);
if (i > 0)
{
Vec2 anchor = new Vec2(-5.0f + 1.0f*i, 5.0f);
jd.initialize(prevBody, body, anchor);
getWorld().createJoint(jd);
}
prevBody = body;
}
}
{
PolygonShape shape = new PolygonShape();
shape.setAsBox(0.5f, 0.125f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 20.0f;
WeldJointDef jd = new WeldJointDef();
jd.frequencyHz = 8f;
jd.dampingRatio = .7f;
Body prevBody = ground;
for (int i = 0; i < e_count; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.position.set(5.5f + 1.0f*i, 10.0f);
Body body = getWorld().createBody(bd);
body.createFixture(fd);
if (i > 0)
{
Vec2 anchor = new Vec2(5.0f + 1.0f*i, 10.0f);
jd.initialize(prevBody, body, anchor);
getWorld().createJoint(jd);
}
prevBody = body;
}
}
for (int i = 0; i < 2; ++i)
{
Vec2[] vertices = new Vec2[3];
vertices[0] = new Vec2(-0.5f, 0.0f);
vertices[1] = new Vec2(0.5f, 0.0f);
vertices[2] = new Vec2(0.0f, 1.5f);
PolygonShape shape = new PolygonShape();
shape.set(vertices, 3);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 1.0f;
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.position.set(-8.0f + 8.0f*i, 12.0f);
Body body = getWorld().createBody(bd);
body.createFixture(fd);
}
for (int i = 0; i < 2; ++i)
{
CircleShape shape = new CircleShape();
shape.m_radius = 0.5f;
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 1.0f;
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.position.set(-6.0f + 6.0f*i, 10.0f);
Body body = getWorld().createBody(bd);
body.createFixture(fd);
}
}
public override void initTest(bool deserialized)
{
if (deserialized)
{
return;
}
// Ground body
{
EdgeShape shape = new EdgeShape();
shape.set(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
FixtureDef sd = new FixtureDef();
sd.shape = shape;
sd.friction = 0.3f;
BodyDef bd = new BodyDef();
Body ground = getWorld().createBody(bd);
ground.createFixture(sd);
}
// Small triangle
Vec2[] vertices = new Vec2[3];
vertices[0] = new Vec2(-1.0f, 0.0f);
vertices[1] = new Vec2(1.0f, 0.0f);
vertices[2] = new Vec2(0.0f, 2.0f);
PolygonShape polygon = new PolygonShape();
polygon.set(vertices, 3);
FixtureDef triangleShapeDef = new FixtureDef();
triangleShapeDef.shape = polygon;
triangleShapeDef.density = 1.0f;
triangleShapeDef.filter.groupIndex = k_smallGroup;
triangleShapeDef.filter.categoryBits = k_triangleCategory;
triangleShapeDef.filter.maskBits = k_triangleMask;
BodyDef triangleBodyDef = new BodyDef();
triangleBodyDef.type = BodyType.DYNAMIC;
triangleBodyDef.position.set(-5.0f, 2.0f);
Body body1 = getWorld().createBody(triangleBodyDef);
body1.createFixture(triangleShapeDef);
// Large triangle (recycle definitions)
vertices[0].mulLocal(2.0f);
vertices[1].mulLocal(2.0f);
vertices[2].mulLocal(2.0f);
polygon.set(vertices, 3);
triangleShapeDef.filter.groupIndex = k_largeGroup;
triangleBodyDef.position.set(-5.0f, 6.0f);
triangleBodyDef.fixedRotation = true; // look at me!
Body body2 = getWorld().createBody(triangleBodyDef);
body2.createFixture(triangleShapeDef);
{
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.position.set(-5.0f, 10.0f);
Body body = getWorld().createBody(bd);
PolygonShape p = new PolygonShape();
p.setAsBox(0.5f, 1.0f);
body.createFixture(p, 1.0f);
PrismaticJointDef jd = new PrismaticJointDef();
jd.bodyA = body2;
jd.bodyB = body;
jd.enableLimit = true;
jd.localAnchorA.set(0.0f, 4.0f);
jd.localAnchorB.setZero();
jd.localAxisA.set(0.0f, 1.0f);
jd.lowerTranslation = -1.0f;
jd.upperTranslation = 1.0f;
getWorld().createJoint(jd);
}
// Small box
polygon.setAsBox(1.0f, 0.5f);
FixtureDef boxShapeDef = new FixtureDef();
boxShapeDef.shape = polygon;
boxShapeDef.density = 1.0f;
boxShapeDef.restitution = 0.1f;
boxShapeDef.filter.groupIndex = k_smallGroup;
boxShapeDef.filter.categoryBits = k_boxCategory;
boxShapeDef.filter.maskBits = k_boxMask;
BodyDef boxBodyDef = new BodyDef();
boxBodyDef.type = BodyType.DYNAMIC;
boxBodyDef.position.set(0.0f, 2.0f);
Body body3 = getWorld().createBody(boxBodyDef);
body3.createFixture(boxShapeDef);
// Large box (recycle definitions)
polygon.setAsBox(2.0f, 1.0f);
boxShapeDef.filter.groupIndex = k_largeGroup;
boxBodyDef.position.set(0.0f, 6.0f);
Body body4 = getWorld().createBody(boxBodyDef);
body4.createFixture(boxShapeDef);
// Small circle
CircleShape circle = new CircleShape();
circle.m_radius = 1.0f;
FixtureDef circleShapeDef = new FixtureDef();
circleShapeDef.shape = circle;
circleShapeDef.density = 1.0f;
circleShapeDef.filter.groupIndex = k_smallGroup;
circleShapeDef.filter.categoryBits = k_circleCategory;
circleShapeDef.filter.maskBits = k_circleMask;
BodyDef circleBodyDef = new BodyDef();
circleBodyDef.type = BodyType.DYNAMIC;
circleBodyDef.position.set(5.0f, 2.0f);
Body body5 = getWorld().createBody(circleBodyDef);
body5.createFixture(circleShapeDef);
// Large circle
circle.m_radius *= 2.0f;
circleShapeDef.filter.groupIndex = k_largeGroup;
circleBodyDef.position.set(5.0f, 6.0f);
Body body6 = getWorld().createBody(circleBodyDef);
body6.createFixture(circleShapeDef);
}
public override void initTest(bool deserialized)
{
if (deserialized)
{
return;
}
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = getWorld().createBody(bd);
EdgeShape shape = new EdgeShape();
shape.set(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
ground.createFixture(shape, 0.0f);
}
{
CircleShape shape = new CircleShape();
shape.m_radius = 0.5f;
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
RevoluteJointDef rjd = new RevoluteJointDef();
bd.position.set(-10f, 20.0f);
Body body = getWorld().createBody(bd);
body.createFixture(shape, 5.0f);
float w = 100.0f;
body.setAngularVelocity(w);
body.setLinearVelocity(new Vec2(-8.0f*w, 0.0f));
rjd.initialize(ground, body, new Vec2(-10.0f, 12.0f));
rjd.motorSpeed = -1.0f*MathUtils.PI;
rjd.maxMotorTorque = 10000.0f;
rjd.enableMotor = false;
rjd.lowerAngle = -0.25f*MathUtils.PI;
rjd.upperAngle = 0.5f*MathUtils.PI;
rjd.enableLimit = true;
rjd.collideConnected = true;
m_joint = (RevoluteJoint) getWorld().createJoint(rjd);
}
{
CircleShape circle_shape = new CircleShape();
circle_shape.m_radius = 3.0f;
BodyDef circle_bd = new BodyDef();
circle_bd.type = BodyType.DYNAMIC;
circle_bd.position.set(5.0f, 30.0f);
FixtureDef fd = new FixtureDef();
fd.density = 5.0f;
fd.filter.maskBits = 1;
fd.shape = circle_shape;
Body ball = m_world.createBody(circle_bd);
ball.createFixture(fd);
PolygonShape polygon_shape = new PolygonShape();
polygon_shape.setAsBox(10.0f, 0.2f, new Vec2(-10.0f, 0.0f), 0.0f);
BodyDef polygon_bd = new BodyDef();
polygon_bd.position.set(20.0f, 10.0f);
polygon_bd.type = BodyType.DYNAMIC;
polygon_bd.bullet = true;
Body polygon_body = m_world.createBody(polygon_bd);
polygon_body.createFixture(polygon_shape, 2.0f);
RevoluteJointDef rjd = new RevoluteJointDef();
rjd.initialize(ground, polygon_body, new Vec2(20.0f, 10.0f));
rjd.lowerAngle = -0.25f*MathUtils.PI;
rjd.upperAngle = 0.0f*MathUtils.PI;
rjd.enableLimit = true;
m_world.createJoint(rjd);
}
// Tests mass computation of a small object far from the origin
{
BodyDef bodyDef = new BodyDef();
bodyDef.type = BodyType.DYNAMIC;
Body body = m_world.createBody(bodyDef);
PolygonShape polyShape = new PolygonShape();
Vec2[] verts = new Vec2[3];
verts[0] = new Vec2(17.63f, 36.31f);
verts[1] = new Vec2(17.52f, 36.69f);
verts[2] = new Vec2(17.19f, 36.36f);
polyShape.set(verts, 3);
FixtureDef polyFixtureDef = new FixtureDef();
polyFixtureDef.shape = polyShape;
polyFixtureDef.density = 1;
body.createFixture(polyFixtureDef); // assertion hits inside here
}
}
public override void initTest(bool deserialized)
{
if (deserialized)
{
return;
}
// Ground body
{
BodyDef bd = new BodyDef();
Body ground = getWorld().createBody(bd);
EdgeShape shape = new EdgeShape();
shape.set(new Vec2(-20.0f, 0.0f), new Vec2(20.0f, 0.0f));
ground.createFixture(shape, 0.0f);
}
// Collinear edges
// This shows the problematic case where a box shape can hit
// an internal vertex.
{
BodyDef bd = new BodyDef();
Body ground = getWorld().createBody(bd);
EdgeShape shape = new EdgeShape();
shape.m_radius = 0.0f;
shape.set(new Vec2(-8.0f, 1.0f), new Vec2(-6.0f, 1.0f));
ground.createFixture(shape, 0.0f);
shape.set(new Vec2(-6.0f, 1.0f), new Vec2(-4.0f, 1.0f));
ground.createFixture(shape, 0.0f);
shape.set(new Vec2(-4.0f, 1.0f), new Vec2(-2.0f, 1.0f));
ground.createFixture(shape, 0.0f);
}
// Chain shape
{
BodyDef bd = new BodyDef();
bd.angle = 0.25f*MathUtils.PI;
Body ground = getWorld().createBody(bd);
Vec2[] vs = new Vec2[4];
vs[0] = new Vec2(5.0f, 7.0f);
vs[1] = new Vec2(6.0f, 8.0f);
vs[2] = new Vec2(7.0f, 8.0f);
vs[3] = new Vec2(8.0f, 7.0f);
ChainShape shape = new ChainShape();
shape.createChain(vs, 4);
ground.createFixture(shape, 0.0f);
}
// Square tiles. This shows that adjacency shapes may
// have non-smooth collision. There is no solution
// to this problem.
{
BodyDef bd = new BodyDef();
Body ground = getWorld().createBody(bd);
PolygonShape shape = new PolygonShape();
shape.setAsBox(1.0f, 1.0f, new Vec2(4.0f, 3.0f), 0.0f);
ground.createFixture(shape, 0.0f);
shape.setAsBox(1.0f, 1.0f, new Vec2(6.0f, 3.0f), 0.0f);
ground.createFixture(shape, 0.0f);
shape.setAsBox(1.0f, 1.0f, new Vec2(8.0f, 3.0f), 0.0f);
ground.createFixture(shape, 0.0f);
}
// Square made from an edge loop. Collision should be smooth.
{
BodyDef bd = new BodyDef();
Body ground = m_world.createBody(bd);
Vec2[] vs = new Vec2[4];
vs[0] = new Vec2(-1.0f, 3.0f);
vs[1] = new Vec2(1.0f, 3.0f);
vs[2] = new Vec2(1.0f, 5.0f);
vs[3] = new Vec2(-1.0f, 5.0f);
ChainShape shape = new ChainShape();
shape.createLoop(vs, 4);
ground.createFixture(shape, 0.0f);
}
// Edge loop. Collision should be smooth.
{
BodyDef bd = new BodyDef();
bd.position.set(-10.0f, 4.0f);
Body ground = getWorld().createBody(bd);
Vec2[] vs = new Vec2[10];
vs[0] = new Vec2(0.0f, 0.0f);
vs[1] = new Vec2(6.0f, 0.0f);
vs[2] = new Vec2(6.0f, 2.0f);
vs[3] = new Vec2(4.0f, 1.0f);
vs[4] = new Vec2(2.0f, 2.0f);
vs[5] = new Vec2(0.0f, 2.0f);
vs[6] = new Vec2(-2.0f, 2.0f);
vs[7] = new Vec2(-4.0f, 3.0f);
vs[8] = new Vec2(-6.0f, 2.0f);
vs[9] = new Vec2(-6.0f, 0.0f);
ChainShape shape = new ChainShape();
shape.createLoop(vs, 10);
ground.createFixture(shape, 0.0f);
}
// Square character 1
{
BodyDef bd = new BodyDef();
bd.position.set(-3.0f, 8.0f);
bd.type = BodyType.DYNAMIC;
bd.fixedRotation = true;
bd.allowSleep = false;
Body body = getWorld().createBody(bd);
PolygonShape shape = new PolygonShape();
shape.setAsBox(0.5f, 0.5f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 20.0f;
body.createFixture(fd);
}
// Square character 2
{
BodyDef bd = new BodyDef();
bd.position.set(-5.0f, 5.0f);
bd.type = BodyType.DYNAMIC;
bd.fixedRotation = true;
bd.allowSleep = false;
Body body = getWorld().createBody(bd);
PolygonShape shape = new PolygonShape();
shape.setAsBox(0.25f, 0.25f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 20.0f;
body.createFixture(fd);
}
// Hexagon character
{
BodyDef bd = new BodyDef();
bd.position.set(-5.0f, 8.0f);
bd.type = BodyType.DYNAMIC;
bd.fixedRotation = true;
bd.allowSleep = false;
Body body = getWorld().createBody(bd);
float angle = 0.0f;
float delta = MathUtils.PI/3.0f;
Vec2[] vertices = new Vec2[6];
for (int i = 0; i < 6; ++i)
{
vertices[i] = new Vec2(0.5f*MathUtils.cos(angle), 0.5f*MathUtils.sin(angle));
angle += delta;
}
PolygonShape shape = new PolygonShape();
shape.set(vertices, 6);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 20.0f;
body.createFixture(fd);
}
// Circle character
{
BodyDef bd = new BodyDef();
bd.position.set(3.0f, 5.0f);
bd.type = BodyType.DYNAMIC;
bd.fixedRotation = true;
bd.allowSleep = false;
Body body = getWorld().createBody(bd);
CircleShape shape = new CircleShape();
shape.m_radius = 0.5f;
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 20.0f;
body.createFixture(fd);
}
// Circle character
{
BodyDef bd = new BodyDef();
bd.position.set(-7.0f, 6.0f);
bd.type = BodyType.DYNAMIC;
bd.allowSleep = false;
m_character = getWorld().createBody(bd);
CircleShape shape = new CircleShape();
shape.m_radius = 0.25f;
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 20.0f;
fd.friction = 1;
m_character.createFixture(fd);
}
}