/// <summary>
/// Creates a new jump component
/// </summary>
/// <param name="world">The Box2D world that will hold this component</param>
/// <param name="content">Used ContentManager</param>
/// <param name="pos">The position of this component</param>
/// <param name="angle">The rotation angle of this component</param>
/// <param name="width">The width of this component</param>
/// <param name="height">The height of this component</param>
public Jump(World world, ContentManager content, Vector2 pos,
float angle, float width, float height) :
base(world, content, pos, angle, width, height)
{
Name = "jump";
texture = content.Load <Texture2D>("Images/" + Name);
origin = new Vector2(texture.Width * 0.5f, texture.Height * 0.5f);
sourceRect = new Rectangle(1, 1, texture.Width, texture.Height);
PolygonShape shape = new PolygonShape();
Vector2[] vertices = { new Vector2(-width * 0.5f / Level.FACTOR,
height * 0.5f / Level.FACTOR),
new Vector2(width * 0.5f / Level.FACTOR,
-height * 0.5f / Level.FACTOR),
new Vector2(width * 0.5f / Level.FACTOR,
height * 0.5f / Level.FACTOR) };
shape.Set(vertices, 3);
body.CreateFixture(shape, 1.0f);
}
public Body CreateStaticBox(Vector2 position, Vector2 size, string param = null)
{
BodyDef bd = new BodyDef();
bd.type = BodyType.Static;
bd.position = new System.Numerics.Vector2(position.X / 100, position.Y / 100);
bd.fixedRotation = false;
bd.gravityScale = 1.000000000000000e+00f;
var body = b2DWorld.CreateBody(bd);
FixtureDef fd = new FixtureDef();
fd.friction = 2.000000029802322e-01f;
fd.restitution = 2.000000029802322e-01f;
fd.density = 1.000000000000000e+00f;
fd.isSensor = false;
fd.userData = param;
if (param == "floor")
{
fd.filter.categoryBits = (ushort)_entityCategory.Floor;
fd.filter.maskBits = (ushort)(_entityCategory.Player | _entityCategory.Ball);
}
PolygonShape shape = new PolygonShape();
System.Numerics.Vector2[] vs = new System.Numerics.Vector2[4];
vs[0] = new Vector2(-(size.X / 2) / 100, -(size.Y / 2) / 100);
vs[1] = new Vector2((size.X / 2) / 100, -(size.Y / 2) / 100);
vs[2] = new Vector2((size.X / 2) / 100, (size.Y / 2) / 100);
vs[3] = new Vector2(-(size.X / 2) / 100, (size.Y / 2) / 100);
shape.Set(vs);
fd.shape = shape;
body.CreateFixture(fd);
Bodies.Add(body);
return(body);
}
void addTri(Vector2 pos)
{
var tempBody = new BodyDef();
tempBody.position = pos - new Vector2(100, 40);
tempBody.type = BodyType.Dynamic;
var tempShape = new PolygonShape();
Vector2[] triVertices = new Vector2[3];
triVertices[0] = new Vector2(0, 80);
triVertices[1] = new Vector2(100, 0);
triVertices[2] = new Vector2(200, 80);
tempShape.Set(triVertices, 3);
var tempFixture = new FixtureDef();
tempFixture.shape = tempShape;
tempFixture.density = 1;
Body tempFloor = physicsWorld.CreateBody(tempBody);
tempFloor.CreateFixture(tempFixture);
}
private EdgeShapeBenchmark()
{
// Ground body
{
Body ground = BodyFactory.CreateBody(World);
float x1 = -20.0f;
float y1 = 2.0f * (float)Math.Cos(x1 / 10.0f * (float)Math.PI);
for (int i = 0; i < 80; ++i)
{
float x2 = x1 + 0.5f;
float y2 = 2.0f * (float)Math.Cos(x2 / 10.0f * (float)Math.PI);
EdgeShape shape = new EdgeShape(new Vector2(x1, y1), new Vector2(x2, y2));
ground.CreateFixture(shape);
x1 = x2;
y1 = y2;
}
}
const float w = 1.0f;
const float t = 2.0f;
float b = w / (2.0f + (float)Math.Sqrt(t));
float s = (float)Math.Sqrt(t) * b;
Vertices vertices = new Vertices(8);
vertices.Add(new Vector2(0.5f * s, 0.0f));
vertices.Add(new Vector2(0.5f * w, b));
vertices.Add(new Vector2(0.5f * w, b + s));
vertices.Add(new Vector2(0.5f * s, w));
vertices.Add(new Vector2(-0.5f * s, w));
vertices.Add(new Vector2(-0.5f * w, b + s));
vertices.Add(new Vector2(-0.5f * w, b));
vertices.Add(new Vector2(-0.5f * s, 0.0f));
_polyShape = new PolygonShape(20);
_polyShape.Set(vertices);
}
/// <inheritdoc />
protected override void PostStep()
{
// Shape.Set(m_points);
DrawString("Press g to generate a new random convex hull");
// Todo
var shape = new PolygonShape();
shape.Set(m_points);
var drawLine = new Vector2[shape.Count + 1];
Array.Copy(shape.Vertices, drawLine, shape.Count);
drawLine[drawLine.Length - 1] = shape.Vertices[0];
Drawer.DrawPolygon(drawLine, drawLine.Length, Color.FromArgb(230, 230, 230));
_contents.Clear();
var points = m_points.Select(e => MainCamera.WorldToScreenPoint(e.ToUnityVector2()))
.Select(e => new UnityEngine.Vector2(e.x, Screen.height - e.y))
.ToArray();
for (var i = 0; i < m_count; ++i)
{
Drawer.DrawPoint(m_points[i], 10.0f, Color.FromArgb(77, 230, 77));
WriteString(points[i] + new UnityEngine.Vector2(0.5f, 0.5f), $"{i}");
}
Drawer.DrawPoint(Vector2.Zero, 5f, Color.Yellow);
//
// if (shape.Validate() == false)
// {
// //m_textLine += 0;
// }
if (m_auto)
{
Generate();
}
}
public Body CreateStaticBoxSensor(Vector2 position, Vector2 size, string param = null)
{
BodyDef bd = new BodyDef();
bd.type = BodyType.Static;
bd.position = new System.Numerics.Vector2(position.X / 100, position.Y / 100);
bd.fixedRotation = false;
bd.gravityScale = 1.000000000000000e+00f;
var body = b2DWorld.CreateBody(bd);
FixtureDef fd = new FixtureDef();
fd.friction = 2.000000029802322e-01f;
fd.restitution = 2.000000029802322e-01f;
fd.density = 1.000000000000000e+00f;
fd.isSensor = true;
fd.userData = param;
PolygonShape shape = new PolygonShape();
System.Numerics.Vector2[] vs = new System.Numerics.Vector2[4];
vs[0] = new System.Numerics.Vector2(-(size.X / 2) / 100, -(size.Y / 2) / 100);
vs[1] = new System.Numerics.Vector2((size.X / 2) / 100, -(size.Y / 2) / 100);
vs[2] = new System.Numerics.Vector2((size.X / 2) / 100, (size.Y / 2) / 100);
vs[3] = new System.Numerics.Vector2(-(size.X / 2) / 100, (size.Y / 2) / 100);
shape.Set(vs);
fd.shape = shape;
fd.shape = shape;
body.CreateFixture(fd);
Bodies.Add(body);
return(body);
}
public Body CreateStaticTriangle(Vector2 position)
{
BodyDef bd = new BodyDef();
bd.type = BodyType.Static;
bd.position = new System.Numerics.Vector2(position.X / 100, position.Y / 100);
bd.fixedRotation = false;
bd.gravityScale = 1.000000000000000e+00f;
var body = b2DWorld.CreateBody(bd);
FixtureDef fd = new FixtureDef();
fd.friction = 2.000000029802322e-01f;
fd.restitution = 2.000000029802322e-01f;
fd.density = 1.000000000000000e+00f;
fd.isSensor = false;
PolygonShape shape = new PolygonShape();
System.Numerics.Vector2[] vs = new System.Numerics.Vector2[3];
vs[0] = new System.Numerics.Vector2(0, -(33f / 2f) / 100f);
vs[1] = new System.Numerics.Vector2(-(33f / 2f) / 100f, (33f / 2f) / 100f);
vs[2] = new System.Numerics.Vector2((33f / 2f) / 100f, (33f / 2f) / 100f);
shape.Set(vs);
fd.shape = shape;
fd.shape = shape;
body.CreateFixture(fd);
Bodies.Add(body);
return(body);
}
public ApplyForce()
{
World.Gravity = new Vector2(0.0f, 0.0f);
const float restitution = 0.4f;
Body ground;
{
var bd = new BodyDef();
bd.Position.Set(0.0f, 20.0f);
ground = World.CreateBody(bd);
var shape = new EdgeShape();
var sd = new FixtureDef();
sd.Shape = shape;
sd.Density = 0.0f;
sd.Restitution = restitution;
// Left vertical
shape.Set(new Vector2(-20.0f, -20.0f), new Vector2(-20.0f, 20.0f));
ground.CreateFixture(sd);
// Right vertical
shape.Set(new Vector2(20.0f, -20.0f), new Vector2(20.0f, 20.0f));
ground.CreateFixture(sd);
// Top horizontal
shape.Set(new Vector2(-20.0f, 20.0f), new Vector2(20.0f, 20.0f));
ground.CreateFixture(sd);
// Bottom horizontal
shape.Set(new Vector2(-20.0f, -20.0f), new Vector2(20.0f, -20.0f));
ground.CreateFixture(sd);
}
{
var xf1 = new Transform();
xf1.Rotation.Set(0.3524f * Settings.Pi);
xf1.Position = xf1.Rotation.GetXAxis();
var vertices = new Vector2[3];
vertices[0] = MathUtils.Mul(xf1, new Vector2(-1.0f, 0.0f));
vertices[1] = MathUtils.Mul(xf1, new Vector2(1.0f, 0.0f));
vertices[2] = MathUtils.Mul(xf1, new Vector2(0.0f, 0.5f));
var poly1 = new PolygonShape();
poly1.Set(vertices);
var sd1 = new FixtureDef();
sd1.Shape = poly1;
sd1.Density = 2.0f;
var xf2 = new Transform();
xf2.Rotation.Set(-0.3524f * Settings.Pi);
xf2.Position = -xf2.Rotation.GetXAxis();
vertices[0] = MathUtils.Mul(xf2, new Vector2(-1.0f, 0.0f));
vertices[1] = MathUtils.Mul(xf2, new Vector2(1.0f, 0.0f));
vertices[2] = MathUtils.Mul(xf2, new Vector2(0.0f, 0.5f));
var poly2 = new PolygonShape();
poly2.Set(vertices);
var sd2 = new FixtureDef();
sd2.Shape = poly2;
sd2.Density = 2.0f;
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position = new Vector2(0.0f, 3.0f);
bd.Angle = Settings.Pi;
bd.AllowSleep = false;
_body = World.CreateBody(bd);
_body.CreateFixture(sd1);
_body.CreateFixture(sd2);
var gravity = 10.0f;
var I = _body.Inertia;
var mass = _body.Mass;
// Compute an effective radius that can be used to
// set the max torque for a friction joint
// For a circle: I = 0.5 * m * r * r ==> r = sqrt(2 * I / m)
var radius = (float)Math.Sqrt(2.0f * I / mass);
FrictionJointDef jd = new FrictionJointDef();
jd.BodyA = ground;
jd.BodyB = _body;
jd.LocalAnchorA.SetZero();
jd.LocalAnchorB = _body.GetLocalCenter();
jd.CollideConnected = true;
jd.MaxForce = 0.5f * mass * gravity;
jd.MaxTorque = 0.2f * mass * radius * gravity;
World.CreateJoint(jd);
}
{
var shape = new PolygonShape();
shape.SetAsBox(0.5f, 0.5f);
var fd = new FixtureDef();
fd.Shape = shape;
fd.Density = 1.0f;
fd.Friction = 0.3f;
for (var i = 0; i < 10; ++i)
{
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position.Set(0.0f, 7.0f + 1.54f * i);
var body = World.CreateBody(bd);
body.CreateFixture(fd);
var gravity = 10.0f;
var I = body.Inertia;
var mass = body.Mass;
// For a circle: I = 0.5 * m * r * r ==> r = sqrt(2 * I / m)
var radius = (float)Math.Sqrt(2.0f * I / mass);
var jd = new FrictionJointDef();
jd.LocalAnchorA.SetZero();
jd.LocalAnchorB.SetZero();
jd.BodyA = ground;
jd.BodyB = body;
jd.CollideConnected = true;
jd.MaxForce = mass * gravity;
jd.MaxTorque = 0.1f * mass * radius * gravity;
World.CreateJoint(jd);
}
}
}
public Bridge()
{
Body ground;
{
var bd = new BodyDef();
ground = World.CreateBody(bd);
var shape = new EdgeShape();
shape.SetTwoSided(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
{
var shape = new PolygonShape();
shape.SetAsBox(0.5f, 0.125f);
var fd = new FixtureDef();
fd.Shape = shape;
fd.Density = 20.0f;
fd.Friction = 0.2f;
var jd = new RevoluteJointDef();
var prevBody = ground;
for (var i = 0; i < Count; ++i)
{
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position.Set(-14.5f + 1.0f * i, 5.0f);
var body = World.CreateBody(bd);
body.CreateFixture(fd);
var anchor = new Vector2(-15.0f + 1.0f * i, 5.0f);
jd.Initialize(prevBody, body, anchor);
World.CreateJoint(jd);
if (i == Count >> 1)
{
_middle = body;
}
prevBody = body;
}
{
var anchor = new Vector2(-15.0f + 1.0f * Count, 5.0f);
jd.Initialize(prevBody, ground, anchor);
World.CreateJoint(jd);
}
}
for (var i = 0; i < 2; ++i)
{
var vertices = new Vector2[3];
vertices[0].Set(-0.5f, 0.0f);
vertices[1].Set(0.5f, 0.0f);
vertices[2].Set(0.0f, 1.5f);
var shape = new PolygonShape();
shape.Set(vertices);
var fd = new FixtureDef();
fd.Shape = shape;
fd.Density = 1.0f;
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position.Set(-8.0f + 8.0f * i, 12.0f);
var body = World.CreateBody(bd);
body.CreateFixture(fd);
}
for (var i = 0; i < 3; ++i)
{
var shape = new CircleShape();
shape.Radius = 0.5f;
var fd = new FixtureDef();
fd.Shape = shape;
fd.Density = 1.0f;
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position.Set(-6.0f + 6.0f * i, 10.0f);
var body = World.CreateBody(bd);
body.CreateFixture(fd);
}
}
public DumpLoader()
{
//Source code dump of Box2D scene: issue304-minimal-case.rube
//
// Created by R.U.B.E 1.3.0
// Using Box2D version 2.3.0
// Wed April 3 2013 04:33:28
//
// This code is originally intended for use in the Box2D testbed,
// but you can easily use it in other applications by providing
// a World for use as the 'World' variable in the code below.
Vector2 g = new Vector2(0.000000000000000e+00f, -1.000000000000000e+01f);
World.Gravity = g;
Body[] bodies = new Body[3];
Joint[] joints = new Joint[0];
{
BodyDef bd = new BodyDef();
bd.BodyType = (BodyType)0;
bd.Position.Set(2.587699890136719e-02f, 5.515012264251709e+00f);
bd.Angle = 0.000000000000000e+00f;
bd.LinearVelocity.Set(0.000000000000000e+00f, 0.000000000000000e+00f);
bd.AngularVelocity = 0.000000000000000e+00f;
bd.LinearDamping = 0.000000000000000e+00f;
bd.AngularDamping = 0.000000000000000e+00f;
bd.AllowSleep = true;
bd.Awake = true;
bd.FixedRotation = false;
bd.Bullet = false;
bd.Enabled = true;
bd.GravityScale = 1.000000000000000e+00f;
bodies[0] = World.CreateBody(bd);
{
FixtureDef fd = new FixtureDef();
fd.Friction = 2.000000029802322e-01f;
fd.Restitution = 0.000000000000000e+00f;
fd.Density = 1.000000000000000e+00f;
fd.IsSensor = false;
fd.Filter.CategoryBits = (1);
fd.Filter.MaskBits = (65535);
fd.Filter.GroupIndex = (0);
PolygonShape shape = new PolygonShape();
Vector2[] vs = new Vector2[8];
vs[0].Set(7.733039855957031e-01f, -1.497260034084320e-01f);
vs[1].Set(-4.487270116806030e-01f, 1.138330027461052e-01f);
vs[2].Set(-1.880589962005615e+00f, -1.365900039672852e-01f);
vs[3].Set(3.972740173339844e-01f, -3.897832870483398e+00f);
shape.Set(vs, 4);
fd.Shape = shape;
bodies[0].CreateFixture(fd);
}
}
{
BodyDef bd = new BodyDef();
bd.BodyType = (BodyType)(2);
bd.Position.Set(-3.122138977050781e-02f, 7.535382270812988e+00f);
bd.Angle = -1.313644275069237e-02f;
bd.LinearVelocity.Set(8.230687379837036e-01f, 7.775862514972687e-02f);
bd.AngularVelocity = 3.705333173274994e-02f;
bd.LinearDamping = 0.000000000000000e+00f;
bd.AngularDamping = 0.000000000000000e+00f;
bd.AllowSleep = true;
bd.Awake = true;
bd.FixedRotation = false;
bd.Bullet = false;
bd.Enabled = true;
bd.GravityScale = 1.000000000000000e+00f;
bodies[1] = World.CreateBody(bd);
{
FixtureDef fd = new FixtureDef();
fd.Friction = 5.000000000000000e-01f;
fd.Restitution = 0.000000000000000e+00f;
fd.Density = 5.000000000000000e+00f;
fd.IsSensor = false;
fd.Filter.CategoryBits = (1);
fd.Filter.MaskBits = (65535);
fd.Filter.GroupIndex = (0);
PolygonShape shape = new PolygonShape();
Vector2[] vs = new Vector2[8];
vs[0].Set(3.473900079727173e+00f, -2.009889930486679e-01f);
vs[1].Set(3.457079887390137e+00f, 3.694039955735207e-02f);
vs[2].Set(-3.116359949111938e+00f, 2.348500071093440e-03f);
vs[3].Set(-3.109960079193115e+00f, -3.581250011920929e-01f);
vs[4].Set(-2.590820074081421e+00f, -5.472509860992432e-01f);
vs[5].Set(2.819370031356812e+00f, -5.402340292930603e-01f);
shape.Set(vs, 6);
fd.Shape = shape;
bodies[1].CreateFixture(fd);
}
}
{
BodyDef bd = new BodyDef();
bd.BodyType = (BodyType)(2);
bd.Position.Set(-7.438077926635742e-01f, 6.626811981201172e+00f);
bd.Angle = -1.884713363647461e+01f;
bd.LinearVelocity.Set(1.785794943571091e-01f, 3.799796104431152e-07f);
bd.AngularVelocity = -5.908820639888290e-06f;
bd.LinearDamping = 0.000000000000000e+00f;
bd.AngularDamping = 0.000000000000000e+00f;
bd.AllowSleep = true;
bd.Awake = true;
bd.FixedRotation = false;
bd.Bullet = false;
bd.Enabled = true;
bd.GravityScale = 1.000000000000000e+00f;
bodies[2] = World.CreateBody(bd);
{
FixtureDef fd = new FixtureDef();
fd.Friction = 9.499999880790710e-01f;
fd.Restitution = 0.000000000000000e+00f;
fd.Density = 1.000000000000000e+01f;
fd.IsSensor = false;
fd.Filter.CategoryBits = (1);
fd.Filter.MaskBits = (65535);
fd.Filter.GroupIndex = (-3);
PolygonShape shape = new PolygonShape();
Vector2[] vs = new Vector2[8];
vs[0].Set(1.639146506786346e-01f, 4.428443685173988e-02f);
vs[1].Set(-1.639146655797958e-01f, 4.428443685173988e-02f);
vs[2].Set(-1.639146655797958e-01f, -4.428443312644958e-02f);
vs[3].Set(1.639146357774734e-01f, -4.428444057703018e-02f);
shape.Set(vs, 4);
fd.Shape = shape;
bodies[2].CreateFixture(fd);
}
}
joints = null;
bodies = null;
}
public CharacterCollision()
{
// Ground body
{
var bd = new BodyDef();
var ground = World.CreateBody(bd);
var shape = new EdgeShape();
shape.Set(new Vector2(-20.0f, 0.0f), new Vector2(20.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
// Collinear edges with no adjacency information.
// This shows the problematic case where a box shape can hit
// an internal vertex.
{
var bd = new BodyDef();
var ground = World.CreateBody(bd);
var shape = new EdgeShape();
shape.Set(new Vector2(-8.0f, 1.0f), new Vector2(-6.0f, 1.0f));
ground.CreateFixture(shape, 0.0f);
shape.Set(new Vector2(-6.0f, 1.0f), new Vector2(-4.0f, 1.0f));
ground.CreateFixture(shape, 0.0f);
shape.Set(new Vector2(-4.0f, 1.0f), new Vector2(-2.0f, 1.0f));
ground.CreateFixture(shape, 0.0f);
}
// Chain shape
{
var bd = new BodyDef {
Angle = 0.25f * Settings.Pi
};
var ground = World.CreateBody(bd);
var vs = new Vector2[4]
{
new Vector2(5.0f, 7.0f),
new Vector2(6.0f, 8.0f),
new Vector2(7.0f, 8.0f),
new Vector2(8.0f, 7.0f)
};
var shape = new ChainShape();
shape.CreateChain(vs);
ground.CreateFixture(shape, 0.0f);
}
// Square tiles. This shows that adjacency shapes may
// have non-smooth collision. There is no solution
// to this problem.
{
var bd = new BodyDef();
var ground = World.CreateBody(bd);
var shape = new PolygonShape();
shape.SetAsBox(1.0f, 1.0f, new Vector2(4.0f, 3.0f), 0.0f);
ground.CreateFixture(shape, 0.0f);
shape.SetAsBox(1.0f, 1.0f, new Vector2(6.0f, 3.0f), 0.0f);
ground.CreateFixture(shape, 0.0f);
shape.SetAsBox(1.0f, 1.0f, new Vector2(8.0f, 3.0f), 0.0f);
ground.CreateFixture(shape, 0.0f);
}
// Square made from an edge loop. Collision should be smooth.
{
var bd = new BodyDef();
var ground = World.CreateBody(bd);
var vs = new Vector2[4]
{
new Vector2(-1.0f, 3.0f),
new Vector2(1.0f, 3.0f),
new Vector2(1.0f, 5.0f),
new Vector2(-1.0f, 5.0f)
};
var shape = new ChainShape();
shape.CreateLoop(vs);
ground.CreateFixture(shape, 0.0f);
}
// Edge loop. Collision should be smooth.
{
var bd = new BodyDef {
Position = new Vector2(-10.0f, 4.0f)
};
var ground = World.CreateBody(bd);
var vs = new Vector2[10]
{
new Vector2(0.0f, 0.0f),
new Vector2(6.0f, 0.0f),
new Vector2(6.0f, 2.0f),
new Vector2(4.0f, 1.0f),
new Vector2(2.0f, 2.0f),
new Vector2(0.0f, 2.0f),
new Vector2(-2.0f, 2.0f),
new Vector2(-4.0f, 3.0f),
new Vector2(-6.0f, 2.0f),
new Vector2(-6.0f, 0.0f)
};
var shape = new ChainShape();
shape.CreateLoop(vs);
ground.CreateFixture(shape, 0.0f);
}
// Square character 1
{
var bd = new BodyDef
{
Position = new Vector2(-3.0f, 8.0f),
BodyType = BodyType.DynamicBody,
FixedRotation = true,
AllowSleep = false
};
var body = World.CreateBody(bd);
var shape = new PolygonShape();
shape.SetAsBox(0.5f, 0.5f);
var fd = new FixtureDef {
Shape = shape, Density = 20.0f
};
body.CreateFixture(fd);
}
// Square character 2
{
var bd = new BodyDef
{
Position = new Vector2(-5.0f, 5.0f),
BodyType = BodyType.DynamicBody,
FixedRotation = true,
AllowSleep = false
};
var body = World.CreateBody(bd);
var shape = new PolygonShape();
shape.SetAsBox(0.25f, 0.25f);
var fd = new FixtureDef {
Shape = shape, Density = 20.0f
};
body.CreateFixture(fd);
}
// Hexagon character
{
var bd = new BodyDef
{
Position = new Vector2(-5.0f, 8.0f),
BodyType = BodyType.DynamicBody,
FixedRotation = true,
AllowSleep = false
};
var body = World.CreateBody(bd);
var angle = 0.0f;
const float delta = Settings.Pi / 3.0f;
var vertices = new Vector2[6];
for (var i = 0; i < 6; ++i)
{
vertices[i].Set(0.5f * (float)Math.Cos(angle), 0.5f * (float)Math.Sin(angle));
angle += delta;
}
var shape = new PolygonShape();
shape.Set(vertices);
var fd = new FixtureDef {
Shape = shape, Density = 20.0f
};
body.CreateFixture(fd);
}
// Circle character
{
var bd = new BodyDef
{
Position = new Vector2(3.0f, 5.0f),
BodyType = BodyType.DynamicBody,
FixedRotation = true,
AllowSleep = false
};
var body = World.CreateBody(bd);
var shape = new CircleShape {
Radius = 0.5f
};
var fd = new FixtureDef {
Shape = shape, Density = 20.0f
};
body.CreateFixture(fd);
}
// Circle character
{
var bd = new BodyDef
{
Position = new Vector2(-7.0f, 6.0f),
BodyType = BodyType.DynamicBody,
AllowSleep = false
};
_character = World.CreateBody(bd);
var shape = new CircleShape {
Radius = 0.25f
};
var fd = new FixtureDef
{
Shape = shape,
Density = 20.0f,
Friction = 1.0f
};
_character.CreateFixture(fd);
}
}
private CCDTest()
{
{
Body body = BodyFactory.CreateBody(World);
body.Position = new Vector2(0.0f, -0.2f);
Vertices box = PolygonTools.CreateRectangle(10, 0.2f);
PolygonShape shape = new PolygonShape(box, 0);
body.CreateFixture(shape);
box = PolygonTools.CreateRectangle(0.2f, 1.0f, new Vector2(0.5f, 1.2f), 0.0f);
shape.Set(box);
body.CreateFixture(shape);
}
{
Vertices box = PolygonTools.CreateRectangle(2, 0.1f);
PolygonShape shape = new PolygonShape(box, 1);
_angularVelocity = Rand.RandomFloat(-50.0f, 50.0f);
_angularVelocity = -30.669577f;
Body body = BodyFactory.CreateBody(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(0.0f, 20.0f);
Fixture fixture = body.CreateFixture(shape);
fixture.Restitution = 0.0f;
body.LinearVelocity = new Vector2(0.0f, -100.0f);
body.AngularVelocity = _angularVelocity;
}
#if false
{
FixtureDef fd = new FixtureDef();
fd.SetAsBox(10.0f, 0.1f);
fd.density = 0.0f;
bd.BodyType = BodyDef.e_static;
bd.position = new Vector2(0.0f, -0.2f);
Body ground = _world.CreateBody();
ground.CreateFixture(fd);
}
{
FixtureDef fd = new FixtureDef();
fd.SetAsBox(2.0f, 0.1f);
fd.density = 1.0f;
fd.restitution = 0.0f;
BodyDef bd1;
bd1.type = BodyDef.e_dynamic;
bd1.bullet = true;
bd1.allowSleep = false;
bd1.position = new Vector2(0.0f, 20.0f);
Body b1 = _world.Create(bd1);
b1.CreateFixture(fd);
b1.SetLinearVelocity(new Vector2(0.0f, -100.0f));
fd.SetAsBox(1.0f, 0.1f);
BodyDef bd2;
bd2.type = BodyDef.e_dynamic;
bd2.bullet = true;
bd2.allowSleep = false;
bd2.position = new Vector2(0.0f, 20.2f);
Body b2 = _world.Create(bd2);
b2.CreateFixture(fd);
b2.SetLinearVelocity(new Vector2(0.0f, -100.0f));
fd.SetAsBox(0.25f, 0.25f);
fd.density = 10.0f;
BodyDef bd3;
bd3.type = BodyDef.e_dynamic;
bd3.bullet = true;
bd3.allowSleep = false;
bd3.position = new Vector2(0.0f, 100.0f);
Body b3 = _world.Create(bd3);
b3.CreateFixture(fd);
b3.SetLinearVelocity(new Vector2(0.0f, -150.0f));
}
#elif false
float k_restitution = 1.4f;
{
bd.position = new Vector2(0.0f, 20.0f);
Body body = _world.CreateBody();
FixtureDef fd = new FixtureDef();
fd.density = 0.0f;
fd.restitution = k_restitution;
fd.SetAsBox(0.1f, 10.0f, new Vector2(-10.0f, 0.0f), 0.0f);
body.CreateFixture(fd);
fd.SetAsBox(0.1f, 10.0f, new Vector2(10.0f, 0.0f), 0.0f);
body.CreateFixture(fd);
fd.SetAsBox(0.1f, 10.0f, new Vector2(0.0f, -10.0f), 0.5f * FarseerPhysics.Settings.b2_pi);
body.CreateFixture(fd);
fd.SetAsBox(0.1f, 10.0f, new Vector2(0.0f, 10.0f), -0.5f * FarseerPhysics.Settings.b2_pi);
body.CreateFixture(fd);
}
#if false
{
FixtureDef sd_bottom;
sd_bottom.SetAsBox(1.0f, 0.1f, new Vector2(0.0f, -1.0f), 0.0f);
sd_bottom.density = 4.0f;
FixtureDef sd_top;
sd_top.SetAsBox(1.0f, 0.1f, new Vector2(0.0f, 1.0f), 0.0f);
sd_top.density = 4.0f;
FixtureDef sd_left;
sd_left.SetAsBox(0.1f, 1.0f, new Vector2(-1.0f, 0.0f), 0.0f);
sd_left.density = 4.0f;
FixtureDef sd_right;
sd_right.SetAsBox(0.1f, 1.0f, new Vector2(1.0f, 0.0f), 0.0f);
sd_right.density = 4.0f;
bd.BodyType = BodyDef.e_dynamicBody;
bd.position = new Vector2(0.0f, 15.0f);
Body body = _world.CreateBody();
body.CreateFixture(&sd_bottom);
body.CreateFixture(&sd_top);
body.CreateFixture(&sd_left);
body.CreateFixture(&sd_right);
}
#elif false
{
FixtureDef sd_bottom;
sd_bottom.SetAsBox(1.5f, 0.15f);
sd_bottom.density = 4.0f;
FixtureDef sd_left;
sd_left.SetAsBox(0.15f, 2.7f, new Vector2(-1.45f, 2.35f), 0.2f);
sd_left.density = 4.0f;
FixtureDef sd_right;
sd_right.SetAsBox(0.15f, 2.7f, new Vector2(1.45f, 2.35f), -0.2f);
sd_right.density = 4.0f;
bd.position = new Vector2(0.0f, 15.0f);
Body body = _world.CreateBody();
body.CreateFixture(&sd_bottom);
body.CreateFixture(&sd_left);
body.CreateFixture(&sd_right);
}
#else
{
bd.position = new Vector2(-5.0f, 20.0f);
bd.bullet = true;
Body body = _world.CreateBody();
body.SetAngularVelocity(Rand.RandomFloat(-50.0f, 50.0f));
FixtureDef fd = new FixtureDef();
fd.SetAsBox(0.1f, 4.0f);
fd.density = 1.0f;
fd.restitution = 0.0f;
body.CreateFixture(fd);
}
#endif
for (int i = 0; i < 0; ++i)
{
bd.position = new Vector2(0.0f, 15.0f + i);
bd.bullet = true;
Body body = _world.CreateBody();
body.SetAngularVelocity(Rand.RandomFloat(-50.0f, 50.0f));
FixtureDef fd = new FixtureDef();
fd.radius = 0.25f;
fd.density = 1.0f;
fd.restitution = 0.0f;
body.CreateFixture(fd);
}
#endif
}
public CompoundShapes()
{
{
BodyDef bd = new BodyDef();
bd.Position.Set(0.0f, 0.0f);
Body body = World.CreateBody(bd);
EdgeShape shape = new EdgeShape();
shape.SetTwoSided(new Vector2(50.0f, 0.0f), new Vector2(-50.0f, 0.0f));
body.CreateFixture(shape, 0.0f);
}
// Table 1
{
BodyDef bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position.Set(-15.0f, 1.0f);
m_table1 = World.CreateBody(bd);
PolygonShape top = new PolygonShape();
top.SetAsBox(3.0f, 0.5f, new Vector2(0.0f, 3.5f), 0.0f);
PolygonShape leftLeg = new PolygonShape();
leftLeg.SetAsBox(0.5f, 1.5f, new Vector2(-2.5f, 1.5f), 0.0f);
PolygonShape rightLeg = new PolygonShape();
rightLeg.SetAsBox(0.5f, 1.5f, new Vector2(2.5f, 1.5f), 0.0f);
m_table1.CreateFixture(top, 2.0f);
m_table1.CreateFixture(leftLeg, 2.0f);
m_table1.CreateFixture(rightLeg, 2.0f);
}
// Table 2
{
BodyDef bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position.Set(-5.0f, 1.0f);
m_table2 = World.CreateBody(bd);
PolygonShape top = new PolygonShape();
top.SetAsBox(3.0f, 0.5f, new Vector2(0.0f, 3.5f), 0.0f);
PolygonShape leftLeg = new PolygonShape();
leftLeg.SetAsBox(0.5f, 2.0f, new Vector2(-2.5f, 2.0f), 0.0f);
PolygonShape rightLeg = new PolygonShape();
rightLeg.SetAsBox(0.5f, 2.0f, new Vector2(2.5f, 2.0f), 0.0f);
m_table2.CreateFixture(top, 2.0f);
m_table2.CreateFixture(leftLeg, 2.0f);
m_table2.CreateFixture(rightLeg, 2.0f);
}
// Spaceship 1
{
BodyDef bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position.Set(5.0f, 1.0f);
m_ship1 = World.CreateBody(bd);
Vector2[] vertices = new Vector2[3];
PolygonShape left = new PolygonShape();
vertices[0].Set(-2.0f, 0.0f);
vertices[1].Set(0.0f, 4.0f / 3.0f);
vertices[2].Set(0.0f, 4.0f);
left.Set(vertices, 3);
PolygonShape right = new PolygonShape();
vertices[0].Set(2.0f, 0.0f);
vertices[1].Set(0.0f, 4.0f / 3.0f);
vertices[2].Set(0.0f, 4.0f);
right.Set(vertices, 3);
m_ship1.CreateFixture(left, 2.0f);
m_ship1.CreateFixture(right, 2.0f);
}
// Spaceship 2
{
BodyDef bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position.Set(15.0f, 1.0f);
m_ship2 = World.CreateBody(bd);
Vector2[] vertices = new Vector2[3];
PolygonShape left = new PolygonShape();
vertices[0].Set(-2.0f, 0.0f);
vertices[1].Set(1.0f, 2.0f);
vertices[2].Set(0.0f, 4.0f);
left.Set(vertices, 3);
PolygonShape right = new PolygonShape();
vertices[0].Set(2.0f, 0.0f);
vertices[1].Set(-1.0f, 2.0f);
vertices[2].Set(0.0f, 4.0f);
right.Set(vertices, 3);
m_ship2.CreateFixture(left, 2.0f);
m_ship2.CreateFixture(right, 2.0f);
}
}
void CreateLeg(float s, Vector2 wheelAnchor)
{
Vector2 p1 = new Vector2(5.4f * s, -6.1f);
Vector2 p2 = new Vector2(7.2f * s, -1.2f);
Vector2 p3 = new Vector2(4.3f * s, -1.9f);
Vector2 p4 = new Vector2(3.1f * s, 0.8f);
Vector2 p5 = new Vector2(6.0f * s, 1.5f);
Vector2 p6 = new Vector2(2.5f * s, 3.7f);
FixtureDef fd1 = new FixtureDef();
FixtureDef fd2 = new FixtureDef();
fd1.filter.groupIndex = -1;
fd2.filter.groupIndex = -1;
fd1.density = 1.0f;
fd2.density = 1.0f;
PolygonShape poly1 = new PolygonShape();
PolygonShape poly2 = new PolygonShape();
Vector2[] vertices = new Vector2[3];
if (s > 0.0f)
{
vertices[0] = p1;
vertices[1] = p2;
vertices[2] = p3;
poly1.Set(vertices, 3);
vertices[0] = Vector2.Zero;
vertices[1] = p5 - p4;
vertices[2] = p6 - p4;
poly2.Set(vertices, 3);
}
else
{
vertices[0] = p1;
vertices[1] = p3;
vertices[2] = p2;
poly1.Set(vertices, 3);
vertices[0] = Vector2.Zero;
vertices[1] = p6 - p4;
vertices[2] = p5 - p4;
poly2.Set(vertices, 3);
}
fd1.shape = poly1;
fd2.shape = poly2;
BodyDef bd1 = new BodyDef();
BodyDef bd2 = new BodyDef();
bd1.type = BodyType.Dynamic;
bd2.type = BodyType.Dynamic;
bd1.position = _offset;
bd2.position = p4 + _offset;
bd1.angularDamping = 10.0f;
bd2.angularDamping = 10.0f;
Body body1 = _world.CreateBody(bd1);
Body body2 = _world.CreateBody(bd2);
body1.CreateFixture(fd1);
body2.CreateFixture(fd2);
DistanceJointDef djd = new DistanceJointDef();
// Using a soft distanceraint can reduce some jitter.
// It also makes the structure seem a bit more fluid by
// acting like a suspension system.
djd.dampingRatio = 0.5f;
djd.frequencyHz = 10.0f;
djd.Initialize(body1, body2, p2 + _offset, p5 + _offset);
_world.CreateJoint(djd);
djd.Initialize(body1, body2, p3 + _offset, p4 + _offset);
_world.CreateJoint(djd);
djd.Initialize(body1, _wheel, p3 + _offset, wheelAnchor + _offset);
_world.CreateJoint(djd);
djd.Initialize(body2, _wheel, p6 + _offset, wheelAnchor + _offset);
_world.CreateJoint(djd);
RevoluteJointDef rjd = new RevoluteJointDef();
rjd.Initialize(body2, _chassis, p4 + _offset);
_world.CreateJoint(rjd);
}
public ApplyForce()
{
_world.Gravity = new Vector2(0.0, 0.0);
const double k_restitution = 0.4;
Body ground;
{
BodyDef bd = new BodyDef();
bd.position = new Vector2(0.0f, 20.0f);
ground = _world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
FixtureDef sd = new FixtureDef();
sd.shape = shape;
sd.density = 0.0f;
sd.restitution = k_restitution;
// Left vertical
shape.SetAsEdge(new Vector2(-20.0f, -20.0f), new Vector2(-20.0f, 20.0f));
ground.CreateFixture(sd);
// Right vertical
shape.SetAsEdge(new Vector2(20.0f, -20.0f), new Vector2(20.0f, 20.0f));
ground.CreateFixture(sd);
// Top horizontal
shape.SetAsEdge(new Vector2(-20.0f, 20.0f), new Vector2(20.0f, 20.0f));
ground.CreateFixture(sd);
// Bottom horizontal
shape.SetAsEdge(new Vector2(-20.0f, -20.0f), new Vector2(20.0f, -20.0f));
ground.CreateFixture(sd);
}
{
Alt.Box2D.Transform xf1 = new Alt.Box2D.Transform();
xf1.R.Set(0.3524 * Alt.Box2D.Settings.b2_pi);
xf1.Position = MathUtils.Multiply(ref xf1.R, new Vector2(1.0f, 0.0f));
Vector2[] vertices = new Vector2[3];
vertices[0] = MathUtils.Multiply(ref xf1, new Vector2(-1.0f, 0.0f));
vertices[1] = MathUtils.Multiply(ref xf1, new Vector2(1.0f, 0.0f));
vertices[2] = MathUtils.Multiply(ref xf1, new Vector2(0.0f, 0.5f));
PolygonShape poly1 = new PolygonShape();
poly1.Set(vertices, 3);
FixtureDef sd1 = new FixtureDef();
sd1.shape = poly1;
sd1.density = 4.0f;
Alt.Box2D.Transform xf2 = new Alt.Box2D.Transform();
xf2.R.Set(-0.3524 * Alt.Box2D.Settings.b2_pi);
xf2.Position = MathUtils.Multiply(ref xf2.R, new Vector2(-1.0f, 0.0f));
vertices[0] = MathUtils.Multiply(ref xf2, new Vector2(-1.0f, 0.0f));
vertices[1] = MathUtils.Multiply(ref xf2, new Vector2(1.0f, 0.0f));
vertices[2] = MathUtils.Multiply(ref xf2, new Vector2(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 = 5.0f;
bd.linearDamping = 0.1f;
bd.position = new Vector2(0.0f, 2.0f);
bd.angle = Alt.Box2D.Settings.b2_pi;
bd.allowSleep = false;
_body = _world.CreateBody(bd);
_body.CreateFixture(sd1);
_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 = new Vector2(0.0f, 5.0f + 1.54f * i);
Body body = _world.CreateBody(bd);
body.CreateFixture(fd);
double gravity = 10.0f;
double I = body.GetInertia();
double mass = body.GetMass();
// For a circle: I = 0.5 * m * r * r ==> r = sqrt(2 * I / m)
double radius = (double)Math.Sqrt(2.0 * (double)(I / mass));
FrictionJointDef jd = new FrictionJointDef();
jd.localAnchorA = Vector2.Zero;
jd.localAnchorB = Vector2.Zero;
jd.bodyA = ground;
jd.bodyB = body;
jd.collideConnected = true;
jd.maxForce = mass * gravity;
jd.maxTorque = mass * radius * gravity;
_world.CreateJoint(jd);
}
}
}
public CollisionFiltering()
{
// Ground body
{
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
FixtureDef sd = new FixtureDef();
sd.shape = shape;
sd.friction = 0.3f;
BodyDef bd = new BodyDef();
Body ground = _world.CreateBody(bd);
ground.CreateFixture(sd);
}
// Small triangle
Vector2[] vertices = new Vector2[3];
vertices[0] = new Vector2(-1.0f, 0.0f);
vertices[1] = new Vector2(1.0f, 0.0f);
vertices[2] = new Vector2(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 = new Vector2(-5.0f, 2.0f);
Body body1 = _world.CreateBody(triangleBodyDef);
body1.CreateFixture(triangleShapeDef);
// Large triangle (recycle definitions)
vertices[0] *= 2.0f;
vertices[1] *= 2.0f;
vertices[2] *= 2.0f;
polygon.Set(vertices, 3);
triangleShapeDef.filter.groupIndex = k_largeGroup;
triangleBodyDef.position = new Vector2(-5.0f, 6.0f);
triangleBodyDef.fixedRotation = true; // look at me!
Body body2 = _world.CreateBody(triangleBodyDef);
body2.CreateFixture(triangleShapeDef);
{
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(-5.0f, 10.0f);
Body body = _world.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 = new Vector2(0.0f, 4.0f);
jd.localAnchorB = Vector2.Zero;
jd.localAxis1 = new Vector2(0.0f, 1.0f);
jd.lowerTranslation = -1.0f;
jd.upperTranslation = 1.0f;
_world.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 = new Vector2(0.0f, 2.0f);
Body body3 = _world.CreateBody(boxBodyDef);
body3.CreateFixture(boxShapeDef);
// Large box (recycle definitions)
polygon.SetAsBox(2.0f, 1.0f);
boxShapeDef.filter.groupIndex = k_largeGroup;
boxBodyDef.position = new Vector2(0.0f, 6.0f);
Body body4 = _world.CreateBody(boxBodyDef);
body4.CreateFixture(boxShapeDef);
// Small circle
CircleShape circle = new CircleShape();
circle._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 = new Vector2(5.0f, 2.0f);
Body body5 = _world.CreateBody(circleBodyDef);
body5.CreateFixture(circleShapeDef);
// Large circle
circle._radius *= 2.0f;
circleShapeDef.filter.groupIndex = k_largeGroup;
circleBodyDef.position = new Vector2(5.0f, 6.0f);
Body body6 = _world.CreateBody(circleBodyDef);
body6.CreateFixture(circleShapeDef);
}
public CompoundShapes()
{
{
BodyDef bd = new BodyDef();
bd.position = new Vector2(0.0f, 0.0f);
Body body = _world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vector2(50.0f, 0.0f), new Vector2(-50.0f, 0.0f));
body.CreateFixture(shape, 0.0f);
}
{
CircleShape circle1 = new CircleShape();
circle1._radius = 0.5f;
circle1._p = new Vector2(-0.5f, 0.5f);
CircleShape circle2 = new CircleShape();
circle2._radius = 0.5f;
circle2._p = new Vector2(0.5f, 0.5f);
for (int i = 0; i < 10; ++i)
{
float x = Rand.RandomFloat(-0.1f, 0.1f);
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(x + 5.0f, 1.05f + 2.5f * i);
bd.angle = Rand.RandomFloat(-(float)Settings.b2_pi, (float)Settings.b2_pi);
Body body = _world.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 Vector2(0.0f, -0.5f), 0.5f * (float)Settings.b2_pi);
for (int i = 0; i < 10; ++i)
{
float x = Rand.RandomFloat(-0.1f, 0.1f);
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(x - 5.0f, 1.05f + 2.5f * i);
bd.angle = Rand.RandomFloat(-(float)Settings.b2_pi, (float)Settings.b2_pi);
Body body = _world.CreateBody(bd);
body.CreateFixture(polygon1, 2.0f);
body.CreateFixture(polygon2, 2.0f);
}
}
{
Transform xf1 = new Transform();
xf1.R.Set(0.3524f * (float)Settings.b2_pi);
xf1.Position = MathUtils.Multiply(ref xf1.R, new Vector2(1.0f, 0.0f));
Vector2[] vertices = new Vector2[3];
PolygonShape triangle1 = new PolygonShape();
vertices[0] = MathUtils.Multiply(ref xf1, new Vector2(-1.0f, 0.0f));
vertices[1] = MathUtils.Multiply(ref xf1, new Vector2(1.0f, 0.0f));
vertices[2] = MathUtils.Multiply(ref xf1, new Vector2(0.0f, 0.5f));
triangle1.Set(vertices, 3);
Transform xf2 = new Transform();
xf2.R.Set(-0.3524f * (float)Settings.b2_pi);
xf2.Position = MathUtils.Multiply(ref xf2.R, new Vector2(-1.0f, 0.0f));
PolygonShape triangle2 = new PolygonShape();
vertices[0] = MathUtils.Multiply(ref xf2, new Vector2(-1.0f, 0.0f));
vertices[1] = MathUtils.Multiply(ref xf2, new Vector2(1.0f, 0.0f));
vertices[2] = MathUtils.Multiply(ref xf2, new Vector2(0.0f, 0.5f));
triangle2.Set(vertices, 3);
for (int i = 0; i < 10; ++i)
{
float x = Rand.RandomFloat(-0.1f, 0.1f);
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(x, 2.05f + 2.5f * i);
bd.angle = 0.0f;
Body body = _world.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 Vector2(-1.45f, 2.35f), 0.2f);
PolygonShape right = new PolygonShape();
right.SetAsBox(0.15f, 2.7f, new Vector2(1.45f, 2.35f), -0.2f);
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2( 0.0f, 2.0f );
Body body = _world.CreateBody(bd);
body.CreateFixture(bottom, 4.0f);
body.CreateFixture(left, 4.0f);
body.CreateFixture(right, 4.0f);
}
}
public ApplyForce()
{
_world.Gravity = new Vector2(0.0f, 0.0f);
const float k_restitution = 0.4f;
Body ground;
{
BodyDef bd = new BodyDef();
bd.position = new Vector2(0.0f, 20.0f);
ground = _world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
FixtureDef sd = new FixtureDef();
sd.shape = shape;
sd.density = 0.0f;
sd.restitution = k_restitution;
// Left vertical
shape.SetAsEdge(new Vector2(-20.0f, -20.0f), new Vector2(-20.0f, 20.0f));
ground.CreateFixture(sd);
// Right vertical
shape.SetAsEdge(new Vector2(20.0f, -20.0f), new Vector2(20.0f, 20.0f));
ground.CreateFixture(sd);
// Top horizontal
shape.SetAsEdge(new Vector2(-20.0f, 20.0f), new Vector2(20.0f, 20.0f));
ground.CreateFixture(sd);
// Bottom horizontal
shape.SetAsEdge(new Vector2(-20.0f, -20.0f), new Vector2(20.0f, -20.0f));
ground.CreateFixture(sd);
}
{
Transform xf1 = new Transform();
xf1.R.Set(0.3524f * (float)Settings.b2_pi);
xf1.Position = MathUtils.Multiply(ref xf1.R, new Vector2(1.0f, 0.0f));
Vector2[] vertices = new Vector2[3];
vertices[0] = MathUtils.Multiply(ref xf1, new Vector2(-1.0f, 0.0f));
vertices[1] = MathUtils.Multiply(ref xf1, new Vector2(1.0f, 0.0f));
vertices[2] = MathUtils.Multiply(ref xf1, new Vector2(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.R.Set(-0.3524f * (float)Settings.b2_pi);
xf2.Position = MathUtils.Multiply(ref xf2.R, new Vector2(-1.0f, 0.0f));
vertices[0] = MathUtils.Multiply(ref xf2, new Vector2(-1.0f, 0.0f));
vertices[1] = MathUtils.Multiply(ref xf2, new Vector2(1.0f, 0.0f));
vertices[2] = MathUtils.Multiply(ref xf2, new Vector2(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 = 5.0f;
bd.linearDamping = 0.1f;
bd.position = new Vector2(0.0f, 2.0f);
bd.angle = (float)Settings.b2_pi;
bd.allowSleep = false;
_body = _world.CreateBody(bd);
_body.CreateFixture(sd1);
_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 = new Vector2(0.0f, 5.0f + 1.54f * i);
Body body = _world.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 = (float)Math.Sqrt(2.0 * (double)(I / mass));
FrictionJointDef jd = new FrictionJointDef();
jd.localAnchorA = Vector2.Zero;
jd.localAnchorB = Vector2.Zero;
jd.bodyA = ground;
jd.bodyB = body;
jd.collideConnected = true;
jd.maxForce = mass * gravity;
jd.maxTorque = mass * radius * gravity;
_world.CreateJoint(jd);
}
}
}
public Bridge()
{
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = _world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vector2(-40.0f, 0.0f), new Vector2(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;
fd.friction = 0.2f;
RevoluteJointDef jd = new RevoluteJointDef();
Body prevBody = ground;
for (int i = 0; i < e_count; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(-14.5f + 1.0f * i, 5.0f);
Body body = _world.CreateBody(bd);
body.CreateFixture(fd);
Vector2 anchor = new Vector2(-15.0f + 1.0f * i, 5.0f);
jd.Initialize(prevBody, body, anchor);
_world.CreateJoint(jd);
if (i == (e_count >> 1))
{
_middle = body;
}
prevBody = body;
}
Vector2 anchor2 = new Vector2(-15.0f + 1.0f * e_count, 5.0f);
jd.Initialize(prevBody, ground, anchor2);
_world.CreateJoint(jd);
}
Vector2[] vertices = new Vector2[3];
for (int i = 0; i < 2; ++i)
{
vertices[0] = new Vector2(-0.5f, 0.0f);
vertices[1] = new Vector2(0.5f, 0.0f);
vertices[2] = new Vector2(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 = new Vector2(-8.0f + 8.0f * i, 12.0f);
Body body = _world.CreateBody(bd);
body.CreateFixture(fd);
}
for (int i = 0; i < 3; ++i)
{
CircleShape shape = new CircleShape();
shape._radius = 0.5f;
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 1.0f;
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(-6.0f + 6.0f * i, 10.0f);
Body body = _world.CreateBody(bd);
body.CreateFixture(fd);
}
}
public void createShip1(Vector2 pos, float _rot)
{
World world = Game1.GameInstance.getWorld();
//////////////// For Sprite System use ///////////////
Sprite shipSprite = (Sprite)DisplayManager.Instance().getDisplayObj(SpriteEnum.Ship);
Sprite_Proxy proxyShip = new Sprite_Proxy(shipSprite, pos.X, pos.Y, shipScale, Color.Blue);
Ship p1 = new Ship(GameObjType.p1ship, proxyShip);
SBNode shipBatch = SpriteBatchManager.Instance().getBatch(batchEnum.ships);
shipBatch.addDisplayObject(proxyShip);
//////////////////////////////////////
// Box2D Body Setup/////////////////////////
var shipShape = new PolygonShape();
Vector2[] verts = new Vector2[5];
verts[0] = new Vector2(-5.0f, -5.0f);
verts[1] = new Vector2(4.8f, -0.10f);
verts[2] = new Vector2(5.0f, 0.00f);
verts[3] = new Vector2(4.8f, 0.10f);
verts[4] = new Vector2(-5.0f, 5.0f);
shipShape.Set(verts, 5);
shipShape._centroid = new Vector2(0, 0);
var fd = new FixtureDef();
fd.shape = shipShape;
fd.restitution = 0.9f;
fd.friction = 0.0f;
fd.density = 1.0f;
fd.userData = p1;
BodyDef bd = new BodyDef();
bd.allowSleep = false;
bd.fixedRotation = true;
bd.type = BodyType.Dynamic;
bd.position = p1.spriteRef.pos;
var body = world.CreateBody(bd);
body.CreateFixture(fd);
body.SetUserData(p1);
body.Rotation = _rot;
///////////////////////////////////////
// Set sprite body reference
PhysicsMan.Instance().addPhysicsObj(p1, body);
//////////////////
// Set Player's ship and add it to the GameObjManager //////////////
PlayerManager.getPlayer(PlayerID.one).setShip(p1);
GameObjManager.Instance().addGameObj(p1);
}
void addStuff()
{
var floorBody = new BodyDef();
floorBody.position = new Vector2(0, 450);
var floorShape = new PolygonShape();
floorShape.SetAsBox((float)800, 30);
var floorFixture = new FixtureDef();
floorFixture.shape = floorShape;
Body worldFloor = physicsWorld.CreateBody(floorBody);
worldFloor.CreateFixture(floorFixture);
//
var squareBody = new BodyDef();
squareBody.type = BodyType.Dynamic;
squareBody.position = new Vector2(400, 100);
var squareShape = new PolygonShape();
squareShape.SetAsBox(100, 80);
var squareFixture = new FixtureDef();
squareFixture.shape = squareShape;
squareFixture.density = 1;
Body worldSquare = physicsWorld.CreateBody(squareBody);
worldSquare.CreateFixture(squareFixture);
//
int circleSteps = 8;
Vector2[] circleList = new Vector2[circleSteps];
var circleRadius = 50;
for (int i = 0; i < circleSteps; i++)
{
circleList[i] = new Vector2((float)(circleRadius * Math.Cos(2 * Math.PI / circleSteps * i)), (float)(circleRadius * Math.Sin(2 * Math.PI / circleSteps * i)));
}
var circleBody = new BodyDef();
circleBody.type = BodyType.Dynamic;
circleBody.position = new Vector2(200, 120);
var circleShape = new PolygonShape();
circleShape.Set(circleList, circleSteps);
var circleFixture = new FixtureDef();
circleFixture.shape = circleShape;
Body worldCircle = physicsWorld.CreateBody(circleBody);
worldCircle.CreateFixture(circleFixture);
//
var triAngleBody = new BodyDef();
triAngleBody.position = new Vector2(600, 80);
triAngleBody.type = BodyType.Dynamic;
var triAngleShape = new PolygonShape();
Vector2[] triVertices = new Vector2[3];
triVertices[0] = new Vector2(0, 0);
triVertices[1] = new Vector2(120, 0);
triVertices[2] = new Vector2(120, 120);
triAngleShape.Set(triVertices, 3);
var triAngleFixture = new FixtureDef();
triAngleFixture.shape = triAngleShape;
triAngleFixture.density = 1;
Body worldTriAngle = physicsWorld.CreateBody(triAngleBody);
worldTriAngle.CreateFixture(triAngleFixture);
//var circleBody1 = new BodyDef();
//circleBody1.position = new Vector2(600, 180);
//var circleShape1 = new CircleShape();
////circleShape1._p = new Vector2(600, 180);
//circleShape1._radius = 40;
//var circleFixture1 = new FixtureDef();
//circleFixture1.shape = circleShape1;
//Body worldCircle1 = physicsWorld.CreateBody(circleBody1);
//worldCircle1.CreateFixture(circleFixture1);
}
public static World CreateWorld()
{
var gravity = new Vector2(0.000000000000000e+00f, -1.000000000000000e+01f);
var world = new World(gravity);
var bodies = new Body[2];
{
BodyDef bd = new BodyDef();
bd.type = BodyType.Static;
bd.position = new Vector2(0.000000000000000e+00f, 0.000000000000000e+00f);
bd.angle = 0.000000000000000e+00f;
bd.linearVelocity = new Vector2(0.000000000000000e+00f, 0.000000000000000e+00f);
bd.angularVelocity = 0.000000000000000e+00f;
bd.linearDamping = 0.000000000000000e+00f;
bd.angularDamping = 0.000000000000000e+00f;
bd.allowSleep = true;
bd.awake = true;
bd.fixedRotation = false;
bd.bullet = false;
//bd.active = true;
bd.gravityScale = 1.000000000000000e+00f;
bodies[0] = world.CreateBody(bd);
{
FixtureDef fd = new FixtureDef();
fd.friction = 2.000000029802322e-01f;
fd.restitution = 2.000000029802322e-01f;
fd.density = 1.000000000000000e+00f;
fd.isSensor = false;
fd.filter.categoryBits = (1);
fd.filter.maskBits = (65535);
fd.filter.groupIndex = (0);
PolygonShape shape = new PolygonShape();
Vector2[] vs = new Vector2[4];
vs[0] = new Vector2(1.622321891784668e+01f, 4.735573291778564e+00f);
vs[1] = new Vector2(1.601119422912598e+01f, 4.735989570617676e+00f);
vs[2] = new Vector2(1.602764320373535e+01f, 3.814474105834961e+00f);
vs[3] = new Vector2(1.621816253662109e+01f, 3.825283050537109e+00f);
shape.Set(vs);
fd.shape = shape;
bodies[0].CreateFixture(fd);
}
{
FixtureDef fd = new FixtureDef();
fd.friction = 2.000000029802322e-01f;
fd.restitution = 0.000000000000000e+00f;
fd.density = 0.000000000000000e+00f;
fd.isSensor = false;
fd.filter.categoryBits = (1);
fd.filter.maskBits = (65535);
fd.filter.groupIndex = (0);
EdgeShape shape = new EdgeShape();
Vector2[] vs = new Vector2[4];
;
vs[0] = new Vector2(1.918307685852051e+01f, 3.306496143341064e+00f);
vs[1] = new Vector2(1.703903770446777e+01f, 2.196289300918579e+00f);
vs[2] = new Vector2(4.565430396770254e-41f, 0.000000000000000e+00f);
vs[3] = new Vector2(0.000000000000000e+00f, 1.216642260551453e-01f);
shape.SetTwoSided(vs[0], vs[1]);
;
fd.shape = shape;
bodies[0].CreateFixture(fd);
}
{
FixtureDef fd = new FixtureDef();
fd.friction = 2.000000029802322e-01f;
fd.restitution = 0.000000000000000e+00f;
fd.density = 0.000000000000000e+00f;
fd.isSensor = false;
fd.filter.categoryBits = (1);
fd.filter.maskBits = (65535);
fd.filter.groupIndex = (0);
EdgeShape shape = new EdgeShape();
Vector2[] vs = new Vector2[4];
;
vs[0] = new Vector2(2.044397354125977e+01f, 4.096230506896973e+00f);
vs[1] = new Vector2(1.918307685852051e+01f, 3.306496143341064e+00f);
vs[2] = new Vector2(4.565430396770254e-41f, 0.000000000000000e+00f);
vs[3] = new Vector2(0.000000000000000e+00f, 1.216642260551453e-01f);
shape.SetTwoSided(vs[0], vs[1]);
;
fd.shape = shape;
bodies[0].CreateFixture(fd);
}
{
FixtureDef fd = new FixtureDef();
fd.friction = 2.000000029802322e-01f;
fd.restitution = 0.000000000000000e+00f;
fd.density = 0.000000000000000e+00f;
fd.isSensor = false;
fd.filter.categoryBits = (1);
fd.filter.maskBits = (65535);
fd.filter.groupIndex = (0);
EdgeShape shape = new EdgeShape();
Vector2[] vs = new Vector2[4];
;
vs[0] = new Vector2(2.176111412048340e+01f, 5.379695892333984e+00f);
vs[1] = new Vector2(2.115560913085938e+01f, 4.700156211853027e+00f);
vs[2] = new Vector2(4.565430396770254e-41f, 0.000000000000000e+00f);
vs[3] = new Vector2(0.000000000000000e+00f, 1.216642260551453e-01f);
shape.SetTwoSided(vs[0], vs[1]);
;
fd.shape = shape;
bodies[0].CreateFixture(fd);
}
{
FixtureDef fd = new FixtureDef();
fd.friction = 2.000000029802322e-01f;
fd.restitution = 0.000000000000000e+00f;
fd.density = 0.000000000000000e+00f;
fd.isSensor = false;
fd.filter.categoryBits = (1);
fd.filter.maskBits = (65535);
fd.filter.groupIndex = (0);
EdgeShape shape = new EdgeShape();
Vector2[] vs = new Vector2[4];
;
vs[0] = new Vector2(2.206690788269043e+01f, 5.190674781799316e+00f);
vs[1] = new Vector2(2.176111412048340e+01f, 5.379695892333984e+00f);
vs[2] = new Vector2(4.565430396770254e-41f, 0.000000000000000e+00f);
vs[3] = new Vector2(0.000000000000000e+00f, 1.216642260551453e-01f);
shape.SetTwoSided(vs[0], vs[1]);
;
fd.shape = shape;
bodies[0].CreateFixture(fd);
}
{
FixtureDef fd = new FixtureDef();
fd.friction = 2.000000029802322e-01f;
fd.restitution = 0.000000000000000e+00f;
fd.density = 0.000000000000000e+00f;
fd.isSensor = false;
fd.filter.categoryBits = (1);
fd.filter.maskBits = (65535);
fd.filter.groupIndex = (0);
EdgeShape shape = new EdgeShape();
Vector2[] vs = new Vector2[4];
;
vs[0] = new Vector2(1.703903770446777e+01f, 2.196289300918579e+00f);
vs[1] = new Vector2(1.560352897644043e+01f, 1.560027003288269e+00f);
vs[2] = new Vector2(4.565430396770254e-41f, 0.000000000000000e+00f);
vs[3] = new Vector2(0.000000000000000e+00f, 1.216642260551453e-01f);
shape.SetTwoSided(vs[0], vs[1]);
;
fd.shape = shape;
bodies[0].CreateFixture(fd);
}
{
FixtureDef fd = new FixtureDef();
fd.friction = 2.000000029802322e-01f;
fd.restitution = 0.000000000000000e+00f;
fd.density = 0.000000000000000e+00f;
fd.isSensor = false;
fd.filter.categoryBits = (1);
fd.filter.maskBits = (65535);
fd.filter.groupIndex = (0);
EdgeShape shape = new EdgeShape();
Vector2[] vs = new Vector2[4];
;
vs[0] = new Vector2(1.560352897644043e+01f, 1.560027003288269e+00f);
vs[1] = new Vector2(1.428396320343018e+01f, 1.043329477310181e+00f);
vs[2] = new Vector2(4.565430396770254e-41f, 0.000000000000000e+00f);
vs[3] = new Vector2(0.000000000000000e+00f, 1.216642260551453e-01f);
shape.SetTwoSided(vs[0], vs[1]);
;
fd.shape = shape;
bodies[0].CreateFixture(fd);
}
{
FixtureDef fd = new FixtureDef();
fd.friction = 2.000000029802322e-01f;
fd.restitution = 0.000000000000000e+00f;
fd.density = 0.000000000000000e+00f;
fd.isSensor = false;
fd.filter.categoryBits = (1);
fd.filter.maskBits = (65535);
fd.filter.groupIndex = (0);
EdgeShape shape = new EdgeShape();
Vector2[] vs = new Vector2[4];
;
vs[0] = new Vector2(2.115560913085938e+01f, 4.700156211853027e+00f);
vs[1] = new Vector2(2.044397354125977e+01f, 4.096230506896973e+00f);
vs[2] = new Vector2(4.565430396770254e-41f, 0.000000000000000e+00f);
vs[3] = new Vector2(0.000000000000000e+00f, 1.216642260551453e-01f);
shape.SetTwoSided(vs[0], vs[1]);
;
fd.shape = shape;
bodies[0].CreateFixture(fd);
}
}
{
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(2.079453659057617e+01f, 7.627632617950439e+00f);
bd.angle = 4.814267158508301e-03f;
bd.linearVelocity = new Vector2(0.000000000000000e+00f, 0.000000000000000e+00f);
bd.angularVelocity = 0.000000000000000e+00f;
bd.linearDamping = 0.000000000000000e+00f;
bd.angularDamping = 0.000000000000000e+00f;
bd.allowSleep = true;
bd.awake = true;
bd.fixedRotation = false;
bd.bullet = true;
//bd.active = true;
bd.gravityScale = 1.000000000000000e+00f;
bodies[1] = world.CreateBody(bd);
{
FixtureDef fd = new FixtureDef();
fd.friction = 5.000000000000000e-01f;
fd.restitution = 6.999999880790710e-01f;
fd.density = 5.000000074505806e-02f;
fd.isSensor = false;
fd.filter.categoryBits = (1);
fd.filter.maskBits = (65535);
fd.filter.groupIndex = (0);
PolygonShape shape = new PolygonShape();
Vector2[] vs = new Vector2[4];
vs[0] = new Vector2(1.193307399749756e+00f, -7.795047014951706e-02f);
vs[1] = new Vector2(1.193307399749756e+00f, 9.368468075990677e-02f);
vs[2] = new Vector2(-1.108393430709839e+00f, 1.137156039476395e-01f);
vs[3] = new Vector2(-1.108393430709839e+00f, -9.785395860671997e-02f);
shape.Set(vs);
fd.shape = shape;
bodies[1].CreateFixture(fd);
}
}
return(world);
}
/// <summary>
/// Components initialization of the actor. Override this method with actor-specific components initialization code.
/// </summary>
/// <remarks>
/// Makes children bodies as the part of this body.
/// Also calls <see cref="InitializeComponents"/> for its children.
/// </remarks>
public virtual void InitializeComponents()
{
foreach (Actor child in Children)
{
if (Body != null && child.Body != null)
{
// make child body as the part of the parent body
// originally was used WeldJoint to make two bodies together
// but the joint constraint sometimes produces strange behaviour (and also crashes)
// FarseerPhysics.Factories.JointFactory.CreateWeldJoint(Screen.World, Body, child.Body, new Vector2());
// new child angle, relative to the actor body
float newChildAngle = child.Body.Rotation - Body.Rotation;
// vector to make child shapes relative to the actor body
Vector2 moveToParent = Vector2.Transform(child.Body.Position,
Matrix.CreateTranslation(-Body.Position.X, -Body.Position.Y, 0f) *
Matrix.CreateRotationZ(-Body.Rotation) *
Matrix.CreateTranslation(Body.Position.X, Body.Position.Y, 0f))
- Body.Position;
foreach (Fixture fixture in child.Body.FixtureList)
{
Shape shape = null;
// move shape according to the parent body
// move polygon shape
if (fixture.ShapeType == ShapeType.Polygon)
{
PolygonShape polygon = fixture.Shape as PolygonShape;
polygon.Vertices.Rotate(newChildAngle);
polygon.Vertices.Translate(moveToParent);
Debug.Assert(polygon.Vertices.IsCounterClockWise());
Debug.Assert(!polygon.Vertices.CheckPolygon());
// reset polygon
polygon.Set(polygon.Vertices);
shape = polygon;
}
// move circle shape
else if (fixture.ShapeType == ShapeType.Circle)
{
CircleShape circle = fixture.Shape as CircleShape;
circle.Position += moveToParent;
shape = circle;
}
// move edge shape
else if (fixture.ShapeType == ShapeType.Edge)
{
EdgeShape edge = fixture.Shape as EdgeShape;
Matrix rotationMatrix = Matrix.CreateRotationZ(newChildAngle);
if (edge.HasVertex0)
{
edge.Vertex0 = Vector2.Transform(edge.Vertex0, rotationMatrix) + moveToParent;
}
if (edge.HasVertex3)
{
edge.Vertex3 = Vector2.Transform(edge.Vertex3, rotationMatrix) + moveToParent;
}
edge.Vertex1 = Vector2.Transform(edge.Vertex1, rotationMatrix) + moveToParent;
edge.Vertex2 = Vector2.Transform(edge.Vertex2, rotationMatrix) + moveToParent;
shape = edge;
}
// create new fixture
if (shape != null)
{
Fixture newFixture = Body.CreateFixture(shape, child);
// copy all settings from original fixture
newFixture.Restitution = fixture.Restitution;
newFixture.Friction = fixture.Friction;
newFixture.IsSensor = fixture.IsSensor;
newFixture.CollisionGroup = fixture.CollisionGroup;
newFixture.CollisionCategories = fixture.CollisionCategories;
newFixture.CollidesWith = fixture.CollidesWith;
// connect collision events to child events
newFixture.OnCollision += child.OnBodyCollision;
newFixture.OnSeparation += child.OnBodySeparation;
}
}
// reset child angle and position
child.Angle = child.Body.Rotation;
child.Position = child.Body.Position;
// remove original body
Screen.World.RemoveBody(child.Body);
// set child body as parent body
child._body = Body;
}
child.InitializeComponents();
}
}
public CompoundShapes()
{
{
BodyDef bd = new BodyDef();
bd.position = new Vector2(0.0, 0.0);
Body body = _world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vector2(50.0, 0.0), new Vector2(-50.0, 0.0));
body.CreateFixture(shape, 0.0);
}
{
CircleShape circle1 = new CircleShape();
circle1._radius = 0.5f;
circle1._p = new Vector2(-0.5f, 0.5f);
CircleShape circle2 = new CircleShape();
circle2._radius = 0.5f;
circle2._p = new Vector2(0.5f, 0.5f);
for (int i = 0; i < 10; ++i)
{
double x = Rand.RandomFloat(-0.1f, 0.1f);
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(x + 5.0f, 1.05f + 2.5f * i);
bd.angle = Rand.RandomFloat(-Alt.Box2D.Settings.b2_pi, Alt.Box2D.Settings.b2_pi);
Body body = _world.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 Vector2(0.0f, -0.5f), 0.5f * Alt.Box2D.Settings.b2_pi);
for (int i = 0; i < 10; ++i)
{
double x = Rand.RandomFloat(-0.1f, 0.1f);
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(x - 5.0f, 1.05f + 2.5f * i);
bd.angle = Rand.RandomFloat(-Alt.Box2D.Settings.b2_pi, Alt.Box2D.Settings.b2_pi);
Body body = _world.CreateBody(bd);
body.CreateFixture(polygon1, 2.0f);
body.CreateFixture(polygon2, 2.0f);
}
}
{
Alt.Box2D.Transform xf1 = new Alt.Box2D.Transform();
xf1.R.Set(0.3524f * Alt.Box2D.Settings.b2_pi);
xf1.Position = MathUtils.Multiply(ref xf1.R, new Vector2(1.0f, 0.0f));
Vector2[] vertices = new Vector2[3];
PolygonShape triangle1 = new PolygonShape();
vertices[0] = MathUtils.Multiply(ref xf1, new Vector2(-1.0f, 0.0f));
vertices[1] = MathUtils.Multiply(ref xf1, new Vector2(1.0f, 0.0f));
vertices[2] = MathUtils.Multiply(ref xf1, new Vector2(0.0f, 0.5f));
triangle1.Set(vertices, 3);
Alt.Box2D.Transform xf2 = new Alt.Box2D.Transform();
xf2.R.Set(-0.3524f * Alt.Box2D.Settings.b2_pi);
xf2.Position = MathUtils.Multiply(ref xf2.R, new Vector2(-1.0f, 0.0f));
PolygonShape triangle2 = new PolygonShape();
vertices[0] = MathUtils.Multiply(ref xf2, new Vector2(-1.0f, 0.0f));
vertices[1] = MathUtils.Multiply(ref xf2, new Vector2(1.0f, 0.0f));
vertices[2] = MathUtils.Multiply(ref xf2, new Vector2(0.0f, 0.5f));
triangle2.Set(vertices, 3);
for (int i = 0; i < 10; ++i)
{
double x = Rand.RandomFloat(-0.1f, 0.1f);
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(x, 2.05f + 2.5f * i);
bd.angle = 0.0f;
Body body = _world.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 Vector2(-1.45f, 2.35f), 0.2f);
PolygonShape right = new PolygonShape();
right.SetAsBox(0.15f, 2.7f, new Vector2(1.45f, 2.35f), -0.2f);
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(0.0f, 2.0f);
Body body = _world.CreateBody(bd);
body.CreateFixture(bottom, 4.0f);
body.CreateFixture(left, 4.0f);
body.CreateFixture(right, 4.0f);
}
}
public Car()
{
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 = new float[] { 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._dynamicBody;
Body body = m_world.CreateBody(bd);
PolygonShape box = new PolygonShape();
box.SetAsBox(10.0f, 0.25f);
box.Density = 1;
body.CreateFixture(box);
RevoluteJointDef jd = new RevoluteJointDef();
jd.Initialize(ground, body, body.GetPosition());
jd.lowerAngle = -8.0f * (float)Math.PI / 180.0f;
jd.upperAngle = 8.0f * (float)Math.PI / 180.0f;
jd.enableLimit = true;
m_world.CreateJoint(jd);
body.ApplyAngularImpulse(100.0f, true);
}
// 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._dynamicBody;
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);
box.Density = 0.5f;
Body body = null;
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(230.0f, 0.5f);
body = m_world.CreateBody(bd);
body.CreateFixture(box);
bd.Position.Set(230.0f, 1.5f);
body = m_world.CreateBody(bd);
body.CreateFixture(box);
bd.Position.Set(230.0f, 2.5f);
body = m_world.CreateBody(bd);
body.CreateFixture(box);
bd.Position.Set(230.0f, 3.5f);
body = m_world.CreateBody(bd);
body.CreateFixture(box);
bd.Position.Set(230.0f, 4.5f);
body = m_world.CreateBody(bd);
body.CreateFixture(box);
}
// Car
{
PolygonShape chassis = new PolygonShape();
Vec2[] vertices = new Vec2[8];
vertices[0].Set(-1.5f, -0.5f);
vertices[1].Set(1.5f, -0.5f);
vertices[2].Set(1.5f, 0.0f);
vertices[3].Set(0.0f, 0.9f);
vertices[4].Set(-1.15f, 0.9f);
vertices[5].Set(-1.5f, 0.2f);
chassis.Set(vertices, 6);
CircleShape circle = new CircleShape();
circle.m_radius = 0.4f;
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(0.0f, 1.0f);
m_car = m_world.CreateBody(bd);
m_car.CreateFixture(chassis);
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);
}
}
public Cantilever()
{
Body ground;
{
var bd = new BodyDef();
ground = World.CreateBody(bd);
var shape = new EdgeShape();
shape.Set(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
{
var shape = new PolygonShape();
shape.SetAsBox(0.5f, 0.125f);
var fd = new FixtureDef();
fd.Shape = shape;
fd.Density = 20.0f;
var jd = new WeldJointDef();
var prevBody = ground;
for (var i = 0; i < Count; ++i)
{
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position.Set(-14.5f + 1.0f * i, 5.0f);
var body = World.CreateBody(bd);
body.CreateFixture(fd);
var anchor = new Vector2(-15.0f + 1.0f * i, 5.0f);
jd.Initialize(prevBody, body, anchor);
World.CreateJoint(jd);
prevBody = body;
}
}
{
var shape = new PolygonShape();
shape.SetAsBox(1.0f, 0.125f);
var fd = new FixtureDef();
fd.Shape = shape;
fd.Density = 20.0f;
var jd = new WeldJointDef();
jd.FrequencyHz = 5.0f;
jd.DampingRatio = 0.7f;
var prevBody = ground;
for (var i = 0; i < 3; ++i)
{
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position.Set(-14.0f + 2.0f * i, 15.0f);
var body = World.CreateBody(bd);
body.CreateFixture(fd);
var anchor = new Vector2(-15.0f + 2.0f * i, 15.0f);
jd.Initialize(prevBody, body, anchor);
World.CreateJoint(jd);
prevBody = body;
}
}
{
var shape = new PolygonShape();
shape.SetAsBox(0.5f, 0.125f);
var fd = new FixtureDef();
fd.Shape = shape;
fd.Density = 20.0f;
var jd = new WeldJointDef();
var prevBody = ground;
for (var i = 0; i < Count; ++i)
{
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position.Set(-4.5f + 1.0f * i, 5.0f);
var body = World.CreateBody(bd);
body.CreateFixture(fd);
if (i > 0)
{
var anchor = new Vector2(-5.0f + 1.0f * i, 5.0f);
jd.Initialize(prevBody, body, anchor);
World.CreateJoint(jd);
}
prevBody = body;
}
}
{
var shape = new PolygonShape();
shape.SetAsBox(0.5f, 0.125f);
var fd = new FixtureDef();
fd.Shape = shape;
fd.Density = 20.0f;
var jd = new WeldJointDef();
jd.FrequencyHz = 8.0f;
jd.DampingRatio = 0.7f;
var prevBody = ground;
for (var i = 0; i < Count; ++i)
{
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position.Set(5.5f + 1.0f * i, 10.0f);
var body = World.CreateBody(bd);
body.CreateFixture(fd);
if (i > 0)
{
var anchor = new Vector2(5.0f + 1.0f * i, 10.0f);
jd.Initialize(prevBody, body, anchor);
World.CreateJoint(jd);
}
prevBody = body;
}
}
for (var i = 0; i < 2; ++i)
{
var vertices = new Vector2 [3];
vertices[0].Set(-0.5f, 0.0f);
vertices[1].Set(0.5f, 0.0f);
vertices[2].Set(0.0f, 1.5f);
var shape = new PolygonShape();
shape.Set(vertices);
var fd = new FixtureDef();
fd.Shape = shape;
fd.Density = 1.0f;
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position.Set(-8.0f + 8.0f * i, 12.0f);
var body = World.CreateBody(bd);
body.CreateFixture(fd);
}
for (var i = 0; i < 2; ++i)
{
var shape = new CircleShape();
shape.Radius = 0.5f;
var fd = new FixtureDef();
fd.Shape = shape;
fd.Density = 1.0f;
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position.Set(-6.0f + 6.0f * i, 10.0f);
var body = World.CreateBody(bd);
body.CreateFixture(fd);
}
}
private CollisionProcessingTest()
{
//Ground
BodyFactory.CreateEdge(World, new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
const float xLo = -5.0f;
const float xHi = 5.0f;
const float yLo = 2.0f;
const float yHi = 35.0f;
// Small triangle
Vertices vertices = new Vertices(3);
vertices.Add(new Vector2(-1.0f, 0.0f));
vertices.Add(new Vector2(1.0f, 0.0f));
vertices.Add(new Vector2(0.0f, 2.0f));
PolygonShape polygon = new PolygonShape(vertices, 1);
Body body1 = BodyFactory.CreateBody(World);
body1.BodyType = BodyType.Dynamic;
body1.Position = new Vector2(Rand.RandomFloat(xLo, xHi), Rand.RandomFloat(yLo, yHi));
Fixture fixture = body1.CreateFixture(polygon);
fixture.OnCollision += OnCollision;
// Large triangle (recycle definitions)
vertices[0] *= 2.0f;
vertices[1] *= 2.0f;
vertices[2] *= 2.0f;
polygon.Set(vertices);
Body body2 = BodyFactory.CreateBody(World);
body2.BodyType = BodyType.Dynamic;
body2.Position = new Vector2(Rand.RandomFloat(xLo, xHi), Rand.RandomFloat(yLo, yHi));
fixture = body2.CreateFixture(polygon);
fixture.OnCollision += OnCollision;
// Small box
Vertices smallBox = PolygonTools.CreateRectangle(1.0f, 0.5f);
polygon.Set(smallBox);
Body body3 = BodyFactory.CreateBody(World);
body3.BodyType = BodyType.Dynamic;
body3.Position = new Vector2(Rand.RandomFloat(xLo, xHi), Rand.RandomFloat(yLo, yHi));
fixture = body3.CreateFixture(polygon);
fixture.OnCollision += OnCollision;
// Large box (recycle definitions)
Vertices largeBox = PolygonTools.CreateRectangle(2.0f, 1.0f);
polygon.Set(largeBox);
Body body4 = BodyFactory.CreateBody(World);
body4.BodyType = BodyType.Dynamic;
body4.Position = new Vector2(Rand.RandomFloat(xLo, xHi), Rand.RandomFloat(yLo, yHi));
fixture = body4.CreateFixture(polygon);
fixture.OnCollision += OnCollision;
// Small circle
CircleShape circle = new CircleShape(1.0f, 1);
Body body5 = BodyFactory.CreateBody(World);
body5.BodyType = BodyType.Dynamic;
body5.Position = new Vector2(Rand.RandomFloat(xLo, xHi), Rand.RandomFloat(yLo, yHi));
fixture = body5.CreateFixture(circle);
fixture.OnCollision += OnCollision;
// Large circle
circle.Radius *= 2.0f;
Body body6 = BodyFactory.CreateBody(World);
body6.BodyType = BodyType.Dynamic;
body6.Position = new Vector2(Rand.RandomFloat(xLo, xHi), Rand.RandomFloat(yLo, yHi));
fixture = body6.CreateFixture(circle);
fixture.OnCollision += OnCollision;
}
public Cantilever()
{
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = _world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vector2(-40.0f, 0.0f), new Vector2(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 = new Vector2(-14.5f + 1.0f * i, 5.0f);
Body body = _world.CreateBody(bd);
body.CreateFixture(fd);
Vector2 anchor = new Vector2(-15.0f + 1.0f * i, 5.0f);
jd.Initialize(prevBody, body, anchor);
_world.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 = new Vector2(-14.5f + 1.0f * i, 15.0f);
bd.inertiaScale = 10.0f;
Body body = _world.CreateBody(bd);
body.CreateFixture(fd);
Vector2 anchor = new Vector2(-15.0f + 1.0f * i, 15.0f);
jd.Initialize(prevBody, body, anchor);
_world.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 = new Vector2(-4.5f + 1.0f * i, 5.0f);
Body body = _world.CreateBody(bd);
body.CreateFixture(fd);
if (i > 0)
{
Vector2 anchor = new Vector2(-5.0f + 1.0f * i, 5.0f);
jd.Initialize(prevBody, body, anchor);
_world.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 = new Vector2(5.5f + 1.0f * i, 10.0f);
bd.inertiaScale = 10.0f;
Body body = _world.CreateBody(bd);
body.CreateFixture(fd);
if (i > 0)
{
Vector2 anchor = new Vector2(5.0f + 1.0f * i, 10.0f);
jd.Initialize(prevBody, body, anchor);
_world.CreateJoint(jd);
}
prevBody = body;
}
}
for (int i = 0; i < 2; ++i)
{
Vector2[] vertices = new Vector2[3];
vertices[0] = new Vector2(-0.5f, 0.0f);
vertices[1] = new Vector2(0.5f, 0.0f);
vertices[2] = new Vector2(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 = new Vector2(-8.0f + 8.0f * i, 12.0f);
Body body = _world.CreateBody(bd);
body.CreateFixture(fd);
}
for (int i = 0; i < 2; ++i)
{
CircleShape shape = new CircleShape();
shape._radius = 0.5f;
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 1.0f;
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(-6.0f + 6.0f * i, 10.0f);
Body body = _world.CreateBody(bd);
body.CreateFixture(fd);
}
}
void CreateLeg(double s, Vector2 wheelAnchor)
{
Vector2 p1 = new Vector2(5.4f * s, -6.1f);
Vector2 p2 = new Vector2(7.2f * s, -1.2f);
Vector2 p3 = new Vector2(4.3f * s, -1.9f);
Vector2 p4 = new Vector2(3.1f * s, 0.8f);
Vector2 p5 = new Vector2(6.0f * s, 1.5f);
Vector2 p6 = new Vector2(2.5f * s, 3.7f);
FixtureDef fd1 = new FixtureDef();
FixtureDef fd2 = new FixtureDef();
fd1.filter.groupIndex = -1;
fd2.filter.groupIndex = -1;
fd1.density = 1.0f;
fd2.density = 1.0f;
PolygonShape poly1 = new PolygonShape();
PolygonShape poly2 = new PolygonShape();
Vector2[] vertices = new Vector2[3];
if (s > 0.0f)
{
vertices[0] = p1;
vertices[1] = p2;
vertices[2] = p3;
poly1.Set(vertices, 3);
vertices[0] = Vector2.Zero;
vertices[1] = p5 - p4;
vertices[2] = p6 - p4;
poly2.Set(vertices, 3);
}
else
{
vertices[0] = p1;
vertices[1] = p3;
vertices[2] = p2;
poly1.Set(vertices, 3);
vertices[0] = Vector2.Zero;
vertices[1] = p6 - p4;
vertices[2] = p5 - p4;
poly2.Set(vertices, 3);
}
fd1.shape = poly1;
fd2.shape = poly2;
BodyDef bd1 = new BodyDef();
BodyDef bd2 = new BodyDef();
bd1.type = BodyType.Dynamic;
bd2.type = BodyType.Dynamic;
bd1.position = _offset;
bd2.position = p4 + _offset;
bd1.angularDamping = 10.0f;
bd2.angularDamping = 10.0f;
Body body1 = _world.CreateBody(bd1);
Body body2 = _world.CreateBody(bd2);
body1.CreateFixture(fd1);
body2.CreateFixture(fd2);
DistanceJointDef djd = new DistanceJointDef();
// Using a soft distanceraint can reduce some jitter.
// It also makes the structure seem a bit more fluid by
// acting like a suspension system.
djd.dampingRatio = 0.5f;
djd.frequencyHz = 10.0f;
djd.Initialize(body1, body2, p2 + _offset, p5 + _offset);
_world.CreateJoint(djd);
djd.Initialize(body1, body2, p3 + _offset, p4 + _offset);
_world.CreateJoint(djd);
djd.Initialize(body1, _wheel, p3 + _offset, wheelAnchor + _offset);
_world.CreateJoint(djd);
djd.Initialize(body2, _wheel, p6 + _offset, wheelAnchor + _offset);
_world.CreateJoint(djd);
RevoluteJointDef rjd = new RevoluteJointDef();
rjd.Initialize(body2, _chassis, p4 + _offset);
_world.CreateJoint(rjd);
}
protected override void Create()
{
_hz = 4.0f;
_zeta = 0.7f;
_speed = 50.0f;
Body ground;
{
var bd = new BodyDef();
ground = World.CreateBody(bd);
var shape = new EdgeShape();
var fd = new FixtureDef();
fd.Shape = shape;
fd.Density = 0.0f;
fd.Friction = 0.6f;
shape.Set(new Vector2(-20.0f, 0.0f), new Vector2(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 (var i = 0; i < 10; ++i)
{
var y2 = hs[i];
shape.Set(new Vector2(x, y1), new Vector2(x + dx, y2));
ground.CreateFixture(fd);
y1 = y2;
x += dx;
}
for (var i = 0; i < 10; ++i)
{
var y2 = hs[i];
shape.Set(new Vector2(x, y1), new Vector2(x + dx, y2));
ground.CreateFixture(fd);
y1 = y2;
x += dx;
}
shape.Set(new Vector2(x, 0.0f), new Vector2(x + 40.0f, 0.0f));
ground.CreateFixture(fd);
x += 80.0f;
shape.Set(new Vector2(x, 0.0f), new Vector2(x + 40.0f, 0.0f));
ground.CreateFixture(fd);
x += 40.0f;
shape.Set(new Vector2(x, 0.0f), new Vector2(x + 10.0f, 5.0f));
ground.CreateFixture(fd);
x += 20.0f;
shape.Set(new Vector2(x, 0.0f), new Vector2(x + 40.0f, 0.0f));
ground.CreateFixture(fd);
x += 40.0f;
shape.Set(new Vector2(x, 0.0f), new Vector2(x, 20.0f));
ground.CreateFixture(fd);
}
// Teeter
{
var bd = new BodyDef();
bd.Position.Set(140.0f, 1.0f);
bd.BodyType = BodyType.DynamicBody;
var body = World.CreateBody(bd);
var box = new PolygonShape();
box.SetAsBox(10.0f, 0.25f);
body.CreateFixture(box, 1.0f);
var jd = new RevoluteJointDef();
jd.Initialize(ground, body, body.GetPosition());
jd.LowerAngle = -8.0f * Settings.Pi / 180.0f;
jd.UpperAngle = 8.0f * Settings.Pi / 180.0f;
jd.EnableLimit = true;
World.CreateJoint(jd);
body.ApplyAngularImpulse(100.0f, true);
}
// Bridge
{
var N = 20;
var shape = new PolygonShape();
shape.SetAsBox(1.0f, 0.125f);
var fd = new FixtureDef();
fd.Shape = shape;
fd.Density = 1.0f;
fd.Friction = 0.6f;
var jd = new RevoluteJointDef();
var prevBody = ground;
for (var i = 0; i < N; ++i)
{
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position.Set(161.0f + 2.0f * i, -0.125f);
var body = World.CreateBody(bd);
body.CreateFixture(fd);
var anchor = new Vector2(160.0f + 2.0f * i, -0.125f);
jd.Initialize(prevBody, body, anchor);
World.CreateJoint(jd);
prevBody = body;
}
{
var anchor = new Vector2(160.0f + 2.0f * N, -0.125f);
jd.Initialize(prevBody, ground, anchor);
World.CreateJoint(jd);
}
}
// Boxes
{
var box = new PolygonShape();
box.SetAsBox(0.5f, 0.5f);
Body body = null;
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position.Set(230.0f, 0.5f);
body = World.CreateBody(bd);
body.CreateFixture(box, 0.5f);
bd.Position.Set(230.0f, 1.5f);
body = World.CreateBody(bd);
body.CreateFixture(box, 0.5f);
bd.Position.Set(230.0f, 2.5f);
body = World.CreateBody(bd);
body.CreateFixture(box, 0.5f);
bd.Position.Set(230.0f, 3.5f);
body = World.CreateBody(bd);
body.CreateFixture(box, 0.5f);
bd.Position.Set(230.0f, 4.5f);
body = World.CreateBody(bd);
body.CreateFixture(box, 0.5f);
}
// Car
{
var chassis = new PolygonShape();
var vertices = new Vector2[8];
vertices[0].Set(-1.5f, -0.5f);
vertices[1].Set(1.5f, -0.5f);
vertices[2].Set(1.5f, 0.0f);
vertices[3].Set(0.0f, 0.9f);
vertices[4].Set(-1.15f, 0.9f);
vertices[5].Set(-1.5f, 0.2f);
chassis.Set(vertices);
var circle = new CircleShape();
circle.Radius = 0.4f;
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position.Set(0.0f, 1.0f);
_car = World.CreateBody(bd);
_car.CreateFixture(chassis, 1.0f);
var fd = new FixtureDef();
fd.Shape = circle;
fd.Density = 1.0f;
fd.Friction = 0.9f;
bd.Position.Set(-1.0f, 0.35f);
_wheel1 = World.CreateBody(bd);
_wheel1.CreateFixture(fd);
bd.Position.Set(1.0f, 0.4f);
_wheel2 = World.CreateBody(bd);
_wheel2.CreateFixture(fd);
var jd = new WheelJointDef();
var axis = new Vector2(0.0f, 1.0f);
jd.Initialize(_car, _wheel1, _wheel1.GetPosition(), axis);
jd.MotorSpeed = 0.0f;
jd.MaxMotorTorque = 20.0f;
jd.EnableMotor = true;
jd.FrequencyHz = _hz;
jd.DampingRatio = _zeta;
_spring1 = (WheelJoint)World.CreateJoint(jd);
jd.Initialize(_car, _wheel2, _wheel2.GetPosition(), axis);
jd.MotorSpeed = 0.0f;
jd.MaxMotorTorque = 10.0f;
jd.EnableMotor = false;
jd.FrequencyHz = _hz;
jd.DampingRatio = _zeta;
_spring2 = (WheelJoint)World.CreateJoint(jd);
}
}
private void CreateLeg(float s, Vector2 wheelAnchor)
{
var p1 = new Vector2(5.4f * s, -6.1f);
var p2 = new Vector2(7.2f * s, -1.2f);
var p3 = new Vector2(4.3f * s, -1.9f);
var p4 = new Vector2(3.1f * s, 0.8f);
var p5 = new Vector2(6.0f * s, 1.5f);
var p6 = new Vector2(2.5f * s, 3.7f);
var fd1 = new FixtureDef {
Filter = { GroupIndex = -1 }, Density = 1.0f
};
var fd2 = new FixtureDef {
Filter = { GroupIndex = -1 }, Density = 1.0f
};
var poly1 = new PolygonShape();
var poly2 = new PolygonShape();
if (s > 0.0f)
{
var vertices = new Vector2[3];
vertices[0] = p1;
vertices[1] = p2;
vertices[2] = p3;
poly1.Set(vertices);
vertices[0] = Vector2.Zero;
vertices[1] = p5 - p4;
vertices[2] = p6 - p4;
poly2.Set(vertices);
}
else
{
var vertices = new Vector2[3];
vertices[0] = p1;
vertices[1] = p3;
vertices[2] = p2;
poly1.Set(vertices);
vertices[0] = Vector2.Zero;
vertices[1] = p6 - p4;
vertices[2] = p5 - p4;
poly2.Set(vertices);
}
fd1.Shape = poly1;
fd2.Shape = poly2;
var bd1 = new BodyDef();
var bd2 = new BodyDef();
bd1.BodyType = BodyType.DynamicBody;
bd2.BodyType = BodyType.DynamicBody;
bd1.Position = _offset;
bd2.Position = p4 + _offset;
bd1.AngularDamping = 10.0f;
bd2.AngularDamping = 10.0f;
var body1 = World.CreateBody(bd1);
var body2 = World.CreateBody(bd2);
body1.CreateFixture(fd1);
body2.CreateFixture(fd2);
var djd = new DistanceJointDef();
// Using a soft distance constraint can reduce some jitter.
// It also makes the structure seem a bit more fluid by
// acting like a suspension system.
djd.DampingRatio = 0.5f;
djd.FrequencyHz = 10.0f;
djd.Initialize(body1, body2, p2 + _offset, p5 + _offset);
World.CreateJoint(djd);
djd.Initialize(body1, body2, p3 + _offset, p4 + _offset);
World.CreateJoint(djd);
djd.Initialize(body1, _wheel, p3 + _offset, wheelAnchor + _offset);
World.CreateJoint(djd);
djd.Initialize(body2, _wheel, p6 + _offset, wheelAnchor + _offset);
World.CreateJoint(djd);
var rjd = new RevoluteJointDef();
rjd.Initialize(body2, _chassis, p4 + _offset);
World.CreateJoint(rjd);
}
public Cantilever()
{
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = _world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vector2(-40.0f, 0.0f), new Vector2(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 = new Vector2(-14.5f + 1.0f * i, 5.0f);
Body body = _world.CreateBody(bd);
body.CreateFixture(fd);
Vector2 anchor = new Vector2(-15.0f + 1.0f * i, 5.0f);
jd.Initialize(prevBody, body, anchor);
_world.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 = new Vector2(-14.5f + 1.0f * i, 15.0f);
bd.inertiaScale = 10.0f;
Body body = _world.CreateBody(bd);
body.CreateFixture(fd);
Vector2 anchor = new Vector2(-15.0f + 1.0f * i, 15.0f);
jd.Initialize(prevBody, body, anchor);
_world.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 = new Vector2(-4.5f + 1.0f * i, 5.0f);
Body body = _world.CreateBody(bd);
body.CreateFixture(fd);
if (i > 0)
{
Vector2 anchor = new Vector2(-5.0f + 1.0f * i, 5.0f);
jd.Initialize(prevBody, body, anchor);
_world.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 = new Vector2(5.5f + 1.0f * i, 10.0f);
bd.inertiaScale = 10.0f;
Body body = _world.CreateBody(bd);
body.CreateFixture(fd);
if (i > 0)
{
Vector2 anchor = new Vector2(5.0f + 1.0f * i, 10.0f);
jd.Initialize(prevBody, body, anchor);
_world.CreateJoint(jd);
}
prevBody = body;
}
}
for (int i = 0; i < 2; ++i)
{
Vector2[] vertices = new Vector2[3];
vertices[0] = new Vector2(-0.5f, 0.0f);
vertices[1] = new Vector2(0.5f, 0.0f);
vertices[2] = new Vector2(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 = new Vector2(-8.0f + 8.0f * i, 12.0f);
Body body = _world.CreateBody(bd);
body.CreateFixture(fd);
}
for (int i = 0; i < 2; ++i)
{
CircleShape shape = new CircleShape();
shape._radius = 0.5f;
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 1.0f;
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(-6.0f + 6.0f * i, 10.0f);
Body body = _world.CreateBody(bd);
body.CreateFixture(fd);
}
}
public CollisionProcessing()
{
// Ground body
{
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vector2(-50.0f, 0.0f), new Vector2(50.0f, 0.0f));
FixtureDef sd = new FixtureDef();
sd.shape = shape;
BodyDef bd = new BodyDef();
Body ground = _world.CreateBody(bd);
ground.CreateFixture(sd);
}
float xLo = -5.0f, xHi = 5.0f;
float yLo = 2.0f, yHi = 35.0f;
// Small triangle
Vector2[] vertices = new Vector2[3];
vertices[0] = new Vector2(-1.0f, 0.0f);
vertices[1] = new Vector2(1.0f, 0.0f);
vertices[2] = new Vector2(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 = new Vector2(Rand.RandomFloat(xLo, xHi), Rand.RandomFloat(yLo, yHi));
Body body1 = _world.CreateBody(triangleBodyDef);
body1.CreateFixture(triangleShapeDef);
// Large triangle (recycle definitions)
vertices[0] *= 2.0f;
vertices[1] *= 2.0f;
vertices[2] *= 2.0f;
polygon.Set(vertices, 3);
triangleBodyDef.position = new Vector2(Rand.RandomFloat(xLo, xHi), Rand.RandomFloat(yLo, yHi));
Body body2 = _world.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 = new Vector2(Rand.RandomFloat(xLo, xHi), Rand.RandomFloat(yLo, yHi));
Body body3 = _world.CreateBody(boxBodyDef);
body3.CreateFixture(boxShapeDef);
// Large box (recycle definitions)
polygon.SetAsBox(2.0f, 1.0f);
boxBodyDef.position = new Vector2(Rand.RandomFloat(xLo, xHi), Rand.RandomFloat(yLo, yHi));
Body body4 = _world.CreateBody(boxBodyDef);
body4.CreateFixture(boxShapeDef);
// Small circle
CircleShape circle = new CircleShape();
circle._radius = 1.0f;
FixtureDef circleShapeDef = new FixtureDef();
circleShapeDef.shape = circle;
circleShapeDef.density = 1.0f;
BodyDef circleBodyDef = new BodyDef();
circleBodyDef.type = BodyType.Dynamic;
circleBodyDef.position = new Vector2(Rand.RandomFloat(xLo, xHi), Rand.RandomFloat(yLo, yHi));
Body body5 = _world.CreateBody(circleBodyDef);
body5.CreateFixture(circleShapeDef);
// Large circle
circle._radius *= 2.0f;
circleBodyDef.position = new Vector2(Rand.RandomFloat(xLo, xHi), Rand.RandomFloat(yLo, yHi));
Body body6 = _world.CreateBody(circleBodyDef);
body6.CreateFixture(circleShapeDef);
}
public Revolute()
{
Body ground;
{
var bd = new BodyDef();
ground = World.CreateBody(bd);
var shape = new EdgeShape();
shape.SetTwoSided(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
var fd = new FixtureDef();
fd.Shape = shape;
//fd.filter.categoryBits = 2;
ground.CreateFixture(fd);
}
{
var shape = new CircleShape();
shape.Radius = 0.5f;
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
var rjd = new RevoluteJointDef();
bd.Position.Set(-10.0f, 20.0f);
var body = World.CreateBody(bd);
body.CreateFixture(shape, 5.0f);
var w = 100.0f;
body.SetAngularVelocity(w);
body.SetLinearVelocity(new Vector2(-8.0f * w, 0.0f));
rjd.Initialize(ground, body, new Vector2(-10.0f, 12.0f));
rjd.MotorSpeed = 1.0f * Settings.Pi;
rjd.MaxMotorTorque = 10000.0f;
rjd.EnableMotor = false;
rjd.LowerAngle = -0.25f * Settings.Pi;
rjd.UpperAngle = 0.5f * Settings.Pi;
rjd.EnableLimit = true;
rjd.CollideConnected = true;
m_joint = (RevoluteJoint)World.CreateJoint(rjd);
}
{
var circle_shape = new CircleShape();
circle_shape.Radius = 3.0f;
var circle_bd = new BodyDef();
circle_bd.BodyType = BodyType.DynamicBody;
circle_bd.Position.Set(5.0f, 30.0f);
var fd = new FixtureDef();
fd.Density = 5.0f;
var filter = fd.Filter;
filter.MaskBits = 1;
fd.Filter = filter;
fd.Shape = circle_shape;
m_ball = World.CreateBody(circle_bd);
m_ball.CreateFixture(fd);
var polygon_shape = new PolygonShape();
polygon_shape.SetAsBox(10.0f, 0.2f, new Vector2(-10.0f, 0.0f), 0.0f);
var polygon_bd = new BodyDef();
polygon_bd.Position.Set(20.0f, 10.0f);
polygon_bd.BodyType = BodyType.DynamicBody;
polygon_bd.Bullet = true;
var polygon_body = World.CreateBody(polygon_bd);
polygon_body.CreateFixture(polygon_shape, 2.0f);
var rjd = new RevoluteJointDef();
rjd.Initialize(ground, polygon_body, new Vector2(20.0f, 10.0f));
rjd.LowerAngle = -0.25f * Settings.Pi;
rjd.UpperAngle = 0.0f * Settings.Pi;
rjd.EnableLimit = true;
World.CreateJoint(rjd);
}
// Tests mass computation of a small object far from the origin
{
var bodyDef = new BodyDef();
bodyDef.BodyType = BodyType.DynamicBody;
var body = World.CreateBody(bodyDef);
var polyShape = new PolygonShape();
var verts = new Vector2[3];
verts[0].Set(17.63f, 36.31f);
verts[1].Set(17.52f, 36.69f);
verts[2].Set(17.19f, 36.36f);
polyShape.Set(verts);
var polyFixtureDef = new FixtureDef();
polyFixtureDef.Shape = polyShape;
polyFixtureDef.Density = 1;
body.CreateFixture(polyFixtureDef); //assertion hits inside here
}
}
private DominosTest()
{
//Ground
BodyFactory.CreateEdge(World, new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
{
Vertices box = PolygonTools.CreateRectangle(6.0f, 0.25f);
PolygonShape shape = new PolygonShape(box, 0);
Body ground = BodyFactory.CreateBody(World);
ground.Position = new Vector2(-1.5f, 10.0f);
ground.CreateFixture(shape);
}
{
Vertices box = PolygonTools.CreateRectangle(0.1f, 1.0f);
PolygonShape shape = new PolygonShape(box, 20);
for (int i = 0; i < 10; ++i)
{
Body body = BodyFactory.CreateBody(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(-6.0f + 1.0f * i, 11.25f);
Fixture fixture = body.CreateFixture(shape);
fixture.Friction = 0.1f;
}
}
{
Vertices box = PolygonTools.CreateRectangle(7.0f, 0.25f, Vector2.Zero, 0.3f);
PolygonShape shape = new PolygonShape(box, 0);
Body ground = BodyFactory.CreateBody(World);
ground.Position = new Vector2(1.0f, 6.0f);
ground.CreateFixture(shape);
}
Body b2;
{
Vertices box = PolygonTools.CreateRectangle(0.25f, 1.5f);
PolygonShape shape = new PolygonShape(box, 0);
b2 = BodyFactory.CreateBody(World);
b2.Position = new Vector2(-7.0f, 4.0f);
b2.CreateFixture(shape);
}
Body b3;
{
Vertices box = PolygonTools.CreateRectangle(6.0f, 0.125f);
PolygonShape shape = new PolygonShape(box, 10);
b3 = BodyFactory.CreateBody(World);
b3.BodyType = BodyType.Dynamic;
b3.Position = new Vector2(-0.9f, 1.0f);
b3.Rotation = -0.15f;
b3.CreateFixture(shape);
}
Vector2 anchor = new Vector2(-2.0f, 1.0f);
//FixedRevoluteJoint jd = new FixedRevoluteJoint(b3, b3.GetLocalPoint(anchor), anchor);
//jd.CollideConnected = true;
//World.AddJoint(jd);
Body b4;
{
Vertices box = PolygonTools.CreateRectangle(0.25f, 0.25f);
PolygonShape shape = new PolygonShape(box, 10);
b4 = BodyFactory.CreateBody(World);
b4.BodyType = BodyType.Dynamic;
b4.Position = new Vector2(-10.0f, 15.0f);
b4.CreateFixture(shape);
}
anchor = new Vector2(-7.0f, 15.0f);
//FixedRevoluteJoint jd2 = new FixedRevoluteJoint(b4, b4.GetLocalPoint(anchor), anchor);
//World.AddJoint(jd2);
Body b5;
{
b5 = BodyFactory.CreateBody(World);
b5.BodyType = BodyType.Dynamic;
b5.Position = new Vector2(6.5f, 3.0f);
Vertices vertices = PolygonTools.CreateRectangle(1.0f, 0.1f, new Vector2(0.0f, -0.9f), 0.0f);
PolygonShape shape = new PolygonShape(vertices, 10);
Fixture fix = b5.CreateFixture(shape);
fix.Friction = 0.1f;
vertices = PolygonTools.CreateRectangle(0.1f, 1.0f, new Vector2(-0.9f, 0.0f), 0.0f);
shape.Set(vertices);
fix = b5.CreateFixture(shape);
fix.Friction = 0.1f;
vertices = PolygonTools.CreateRectangle(0.1f, 1.0f, new Vector2(0.9f, 0.0f), 0.0f);
shape.Set(vertices);
fix = b5.CreateFixture(shape);
fix.Friction = 0.1f;
}
anchor = new Vector2(6.0f, 2.0f);
//FixedRevoluteJoint jd3 = new FixedRevoluteJoint(b5, b5.GetLocalPoint(anchor), anchor);
//World.AddJoint(jd3);
Body b6;
{
Vertices box = PolygonTools.CreateRectangle(1.0f, 0.1f);
PolygonShape shape = new PolygonShape(box, 30);
b6 = BodyFactory.CreateBody(World);
b6.BodyType = BodyType.Dynamic;
b6.Position = new Vector2(6.5f, 4.1f);
b6.CreateFixture(shape);
}
anchor = new Vector2(1.0f, -0.1f);
RevoluteJoint jd4 = new RevoluteJoint(b5, b6, b5.GetLocalPoint(b6.GetWorldPoint(anchor)), anchor);
jd4.CollideConnected = true;
World.AddJoint(jd4);
Body b7;
{
Vertices box = PolygonTools.CreateRectangle(0.1f, 1.0f);
PolygonShape shape = new PolygonShape(box, 10);
b7 = BodyFactory.CreateBody(World);
b7.BodyType = BodyType.Dynamic;
b7.Position = new Vector2(7.4f, 1.0f);
b7.CreateFixture(shape);
}
DistanceJoint djd = new DistanceJoint(b3, b7, new Vector2(6.0f, 0.0f), new Vector2(0.0f, -1.0f));
Vector2 d = djd.BodyB.GetWorldPoint(djd.LocalAnchorB) - djd.BodyA.GetWorldPoint(djd.LocalAnchorA);
djd.Length = d.Length();
World.AddJoint(djd);
{
const float radius = 0.2f;
CircleShape shape = new CircleShape(radius, 10);
for (int i = 0; i < 4; ++i)
{
Body body = BodyFactory.CreateBody(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(5.9f + 2.0f * radius * i, 2.4f);
Fixture fix = body.CreateFixture(shape);
fix.OnCollision += BallCollision;
}
}
}
public CollisionProcessing()
{
// 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 = m_world.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].Set(-1.0f, 0.0f);
vertices[1].Set(1.0f, 0.0f);
vertices[2].Set(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._dynamicBody;
triangleBodyDef.Position.Set(RandomFloat(xLo, xHi), RandomFloat(yLo, yHi));
Body body1 = m_world.CreateBody(triangleBodyDef);
body1.CreateFixture(triangleShapeDef);
// Large triangle (recycle definitions)
vertices[0] *= 2.0f;
vertices[1] *= 2.0f;
vertices[2] *= 2.0f;
polygon.Set(vertices, 3);
triangleBodyDef.Position.Set(RandomFloat(xLo, xHi), RandomFloat(yLo, yHi));
Body body2 = m_world.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._dynamicBody;
boxBodyDef.Position.Set(RandomFloat(xLo, xHi), RandomFloat(yLo, yHi));
Body body3 = m_world.CreateBody(boxBodyDef);
body3.CreateFixture(boxShapeDef);
// Large box (recycle definitions)
polygon.SetAsBox(2.0f, 1.0f);
boxBodyDef.Position.Set(RandomFloat(xLo, xHi), RandomFloat(yLo, yHi));
Body body4 = m_world.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._dynamicBody;
circleBodyDef.Position.Set(RandomFloat(xLo, xHi), RandomFloat(yLo, yHi));
Body body5 = m_world.CreateBody(circleBodyDef);
body5.CreateFixture(circleShapeDef);
// Large circle
circle.m_radius *= 2.0f;
circleBodyDef.Position.Set(RandomFloat(xLo, xHi), RandomFloat(yLo, yHi));
Body body6 = m_world.CreateBody(circleBodyDef);
body6.CreateFixture(circleShapeDef);
}
public void Create(BroadPhase broadPhase, Body body, Transform xf, FixtureDef def)
{
UserData = def.UserData;
Friction = def.Friction;
Restitution = def.Restitution;
Density = def.Density;
_body = body;
_next = null;
Filter = def.Filter;
_isSensor = def.IsSensor;
_type = def.Type;
// Allocate and initialize the child shape.
switch (_type)
{
case ShapeType.CircleShape:
{
CircleShape circle = new CircleShape();
CircleDef circleDef = (CircleDef)def;
circle._position = circleDef.LocalPosition;
circle._radius = circleDef.Radius;
_shape = circle;
}
break;
case ShapeType.PolygonShape:
{
PolygonShape polygon = new PolygonShape();
PolygonDef polygonDef = (PolygonDef)def;
polygon.Set(polygonDef.Vertices, polygonDef.VertexCount);
_shape = polygon;
}
break;
case ShapeType.EdgeShape:
{
EdgeShape edge = new EdgeShape();
EdgeDef edgeDef = (EdgeDef)def;
edge.Set(edgeDef.Vertex1, edgeDef.Vertex2);
_shape = edge;
}
break;
default:
Box2DNetDebug.Assert(false);
break;
}
// Create proxy in the broad-phase.
AABB aabb;
_shape.ComputeAABB(out aabb, xf);
bool inRange = broadPhase.InRange(aabb);
// You are creating a shape outside the world box.
Box2DNetDebug.Assert(inRange);
if (inRange)
{
_proxyId = broadPhase.CreateProxy(aabb, this);
}
else
{
_proxyId = PairManager.NullProxy;
}
}
