public Gun()
{
{
Body ground = m_world.CreateBody(new BodyDef());
ground.CreateFixture(new PolygonShape(new Vec2(-80, 0), new Vec2(80, 0)), 0);
ground.CreateFixture(new PolygonShape(new Vec2(0, 15), new Vec2(-1.5f, 4)), 0);
ground.CreateFixture(new PolygonShape(new Vec2(4.5f, 15), new Vec2(3.0f, 4)), 0);
ground.CreateFixture(new PolygonShape(new Vec2(-1.5f, 4), new Vec2(3.0f, 4)), 0);
{
Body feeder = m_world.CreateBody(new BodyDef(BodyType.Dynamic, new Vec2(-0.05f, 3)));
feeder.CreateFixture(new PolygonShape(new Vec2(-1.39f + 0.04f, 1.2f), new Vec2(-1.39f, 1), new Vec2(2.99f, 1), new Vec2(2.99f + 0.04f, 1.2f)), 0.5f);
PrismaticJointDef pjd = new PrismaticJointDef();
pjd.Initialize(feeder, ground, feeder.WorldCenter, (feeder.WorldCenter - new Vec2(2.25f, 15)).Normalized());
pjd.CollideConnected = false;
pjd.EnableLimit = true;
pjd.LowerTranslation = 0;
pjd.UpperTranslation = 15.0f - (.1f);
m_world.CreateJoint(pjd);
}
}
{
const float addX = 0.16f;
const float addY = 1.42f;
Vec2 pos = new Vec2(6.90f, 8.45f);
for (int i = 0; i < 9; ++i)
{
AddBullet(pos, (float)((Math.PI) + (Math.PI / 2)));
pos += new Vec2(addX, addY);
}
}
}
private void addBaffleX(Body body)
{
try
{
if (body.GetUserData() == null)
{
return;
}
GizmoComponents myGizmo = (GizmoComponents)body.GetUserData();
//添加Shape
addPolygon(body);
BodyDef kinematicBodyDef = new BodyDef();
kinematicBodyDef.Position.Set(0, myGizmo.PositionY);
Body kinematicBody = myWorld.CreateBody(kinematicBodyDef);
PrismaticJointDef jointDef = new PrismaticJointDef();
Vec2 worldAxis = new Vec2(1, 0);
jointDef.Initialize(body, kinematicBody, kinematicBody.GetWorldCenter(), worldAxis);
jointDef.LowerTranslation = -100f;
jointDef.UpperTranslation = 100f;
jointDef.EnableLimit = true;
PrismaticJoint joint = (PrismaticJoint)myWorld.CreateJoint(jointDef);
}
catch (Exception e)
{
MessageBox.Show("PhysicalWorld-addBaffleX函数出错");
}
}
void Start()
{
if (connectedBody == null)
{
return;
}
var jointDef = new PrismaticJointDef();
#if USING_BOX2DX
jointDef.Initialize(GetComponent <Box2DBody>(), connectedBody, anchor.ToVec2(), axis.ToVec2());
#else
jointDef.Initialize(GetComponent <Box2DBody>(), connectedBody, anchor, axis);
#endif
jointDef.MaxMotorForce = maxMotorForce;
jointDef.EnableMotor = enableMotor;
joint = (PrismaticJoint)Box2DWorld.Instance().CreateJoint(jointDef);
}
/// <summary>
/// Creates a distance joint between two bodies
/// </summary>
/// <param name="b1"></param>
/// <param name="b2"></param>
/// <param name="anchor"></param>
/// <param name="axis"></param>
public void joinBodies_Prismatic(Body b1, Body b2, Vector2 anchor, Vector2 axis)
{
PrismaticJointDef pjd = new PrismaticJointDef();
pjd.upperTranslation = 1;
pjd.lowerTranslation = -1;
pjd.enableMotor = true;
pjd.maxMotorForce = 1000;
pjd.motorSpeed = 1;
pjd.Initialize(b1, b2, anchor, axis);
PrismaticJoint pj = physicsWorld.CreateJoint(pjd) as PrismaticJoint;
}
// Use this for initialization
protected override IntPtr Init()
{
PrismaticJointDef jd = new PrismaticJointDef(other.body, body.body);
jd.Initialize(other.body, body.body, anchor, axis);
jd.enableLimit = enableLimit;
jd.lowerTranslation = lowerTranslation;
jd.upperTranslation = upperTranslation;
jd.enableMotor = enableMotor;
jd.maxMotorForce = maxMotorForce;
jd.motorSpeed = motorSpeed;
return(API.CreatePrismaticJoint(B2DWorld.instance.world, jd));
}
/// <summary>
/// Creates a distance joint between two bodies
/// </summary>
/// <param name="b1"></param>
/// <param name="b2"></param>
/// <param name="anchor"></param>
/// <param name="axis"></param>
/// <param name="uppertranslation"></param>
/// <param name="lowertranslation"></param>
/// <param name="motorspeed"></param>
public void joinBodies_Prismatic(Body b1, Body b2, Vector2 anchor, Vector2 axis, float uppertranslation, float lowertranslation, float motorspeed)
{
PrismaticJointDef pjd = new PrismaticJointDef();
pjd.Initialize(b1, b2, anchor, axis);
if (motorspeed != 0)
{
pjd.enableMotor = true;
}
pjd.motorSpeed = motorspeed;
pjd.lowerTranslation = lowertranslation;
pjd.upperTranslation = uppertranslation;
PrismaticJoint pj = physicsWorld.CreateJoint(pjd) as PrismaticJoint;
}
public Prismatic()
{
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = m_world.CreateBody(bd);
EdgeShape shape = new EdgeShape();
shape.Set(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
shape.Density = 0;
ground.CreateFixture(shape);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(2.0f, 0.5f);
shape.Density = 5;
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(-10.0f, 10.0f);
bd.angle = 0.5f * (float)Math.PI;
bd.allowSleep = false;
Body body = m_world.CreateBody(bd);
body.CreateFixture(shape);
PrismaticJointDef pjd = new PrismaticJointDef();
// Bouncy limit
Vec2 axis = new Vec2(2.0f, 1.0f);
axis.Normalize();
pjd.Initialize(ground, body, new Vec2(0.0f, 0.0f), axis);
// Non-bouncy limit
//pjd.Initialize(ground, body, new Vec2(-10.0f, 10.0f), new Vec2(1.0f, 0.0f));
pjd.motorSpeed = 10.0f;
pjd.maxMotorForce = 10000.0f;
pjd.enableMotor = true;
pjd.lowerTranslation = 0.0f;
pjd.upperTranslation = 20.0f;
pjd.enableLimit = true;
m_joint = (PrismaticJoint)m_world.CreateJoint(pjd);
}
}
public Prismatic()
{
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(2.0f, 0.5f);
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position.Set(-10.0f, 10.0f);
bd.Angle = 0.5f * Settings.Pi;
bd.AllowSleep = false;
var body = World.CreateBody(bd);
body.CreateFixture(shape, 5.0f);
var pjd = new PrismaticJointDef();
// Bouncy limit
var axis = new Vector2(2.0f, 1.0f);
axis = Vector2.Normalize(axis);
pjd.Initialize(ground, body, new Vector2(0.0f, 0.0f), axis);
// Non-bouncy limit
//pjd.Initialize(ground, body, new Vector2(-10.0f, 10.0f), new Vector2(1.0f, 0.0f));
pjd.MotorSpeed = 10.0f;
pjd.MaxMotorForce = 10000.0f;
pjd.EnableMotor = true;
pjd.LowerTranslation = 0.0f;
pjd.UpperTranslation = 20.0f;
pjd.EnableLimit = true;
_joint = (PrismaticJoint)World.CreateJoint(pjd);
}
}
public PrismaticJointTestBase()
{
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);
}
EnableLimit = true;
EnableMotor = false;
MotorSpeed = 10.0f;
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(1.0f, 1.0f);
BodyDef bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position.Set(0.0f, 10.0f);
bd.Angle = 0.5f * Settings.Pi;
bd.AllowSleep = false;
var body = World.CreateBody(bd);
body.CreateFixture(shape, 5.0f);
PrismaticJointDef pjd = new PrismaticJointDef();
// Horizontal
pjd.Initialize(ground, body, bd.Position, new Vector2(1.0f, 0.0f));
pjd.MotorSpeed = MotorSpeed;
pjd.MaxMotorForce = 10000.0f;
pjd.EnableMotor = EnableMotor;
pjd.LowerTranslation = -10.0f;
pjd.UpperTranslation = 10.0f;
pjd.EnableLimit = EnableLimit;
Joint = (PrismaticJoint)World.CreateJoint(pjd);
}
}
public Prismatic()
{
Body ground = null;
{
PolygonDef sd = new PolygonDef();
sd.SetAsBox(50.0f, 10.0f);
BodyDef bd = new BodyDef();
bd.Position.Set(0.0f, -10.0f);
ground = _world.CreateBody(bd);
ground.CreateShape(sd);
}
{
PolygonDef sd = new PolygonDef();
sd.SetAsBox(2.0f, 0.5f);
sd.Density = 5.0f;
sd.Friction = 0.05f;
BodyDef bd = new BodyDef();
bd.Position.Set(-10.0f, 10.0f);
bd.Angle = 0.5f * Box2DX.Common.Settings.Pi;
Body body = _world.CreateBody(bd);
body.CreateShape(sd);
body.SetMassFromShapes();
PrismaticJointDef pjd = new PrismaticJointDef();
// Bouncy limit
pjd.Initialize(ground, body, new Vec2(0.0f, 0.0f), new Vec2(1.0f, 0.0f));
// Non-bouncy limit
//pjd.Initialize(ground, body, Vec2(-10.0f, 10.0f), Vec2(1.0f, 0.0f));
pjd.MotorSpeed = 10.0f;
pjd.MaxMotorForce = 1000.0f;
pjd.EnableMotor = true;
pjd.LowerTranslation = 0.0f;
pjd.UpperTranslation = 20.0f;
pjd.EnableLimit = true;
_joint = (PrismaticJoint)_world.CreateJoint(pjd);
}
}
private PrismaticJointTest()
{
Body ground;
{
BodyDef bd = new BodyDef();
ground = BodyFactory.CreateFromDef(World, bd);
EdgeShape shape = new EdgeShape();
shape.SetTwoSided(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
ground.AddFixture(shape);
}
_enableLimit = true;
_enableMotor = false;
_motorSpeed = 10.0f;
{
PolygonShape shape = new PolygonShape(5.0f);
shape.SetAsBox(1.0f, 1.0f);
BodyDef bd = new BodyDef();
bd.Type = BodyType.Dynamic;
bd.Position = new Vector2(0.0f, 10.0f);
bd.Angle = 0.5f * MathConstants.Pi;
bd.AllowSleep = false;
Body body = BodyFactory.CreateFromDef(World, bd);
body.AddFixture(shape);
PrismaticJointDef pjd = new PrismaticJointDef();
// Horizontal
pjd.Initialize(ground, body, bd.Position, new Vector2(1.0f, 0.0f));
pjd.MotorSpeed = _motorSpeed;
pjd.MaxMotorForce = 10000.0f;
pjd.EnableMotor = _enableMotor;
pjd.LowerTranslation = -10.0f;
pjd.UpperTranslation = 10.0f;
pjd.EnableLimit = _enableLimit;
_joint = (PrismaticJoint)JointFactory.CreateFromDef(World, pjd);
}
}
public Prismatic()
{
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(2.0f, 0.5f);
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(-10.0f, 10.0f);
bd.angle = 0.5f * (float)Settings.b2_pi;
Body body = _world.CreateBody(bd);
body.CreateFixture(shape, 5.0f);
PrismaticJointDef pjd = new PrismaticJointDef();
// Bouncy limit
Vector2 axis = new Vector2(2, 1);
axis.Normalize();
pjd.Initialize(ground, body, new Vector2(0.0f, 0.0f), axis);
// Non-bouncy limit
//pjd.Initialize(ground, body, new Vector2(-10.0f, 10.0f), new Vector2(1.0f, 0.0f));
pjd.motorSpeed = 10.0f;
pjd.maxMotorForce = 1000.0f;
pjd.enableMotor = true;
pjd.lowerTranslation = 0.0f;
pjd.upperTranslation = 20.0f;
pjd.enableLimit = true;
_joint = (PrismaticJoint)_world.CreateJoint(pjd);
}
}
public Prismatic()
{
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = _world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vector2(-40.0, 0.0), new Vector2(40.0, 0.0));
ground.CreateFixture(shape, 0.0);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(2.0, 0.5);
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(-10.0, 10.0);
bd.angle = 0.5 * Alt.Box2D.Settings.b2_pi;
Body body = _world.CreateBody(bd);
body.CreateFixture(shape, 5.0);
PrismaticJointDef pjd = new PrismaticJointDef();
// Bouncy limit
Vector2 axis = new Vector2(2, 1);
axis.Normalize();
pjd.Initialize(ground, body, new Vector2(0.0, 0.0), axis);
// Non-bouncy limit
//pjd.Initialize(ground, body, new Vector2(-10.0, 10.0), new Vector2(1.0, 0.0));
pjd.motorSpeed = 10.0;
pjd.maxMotorForce = 1000.0;
pjd.enableMotor = true;
pjd.lowerTranslation = 0.0;
pjd.upperTranslation = 20.0;
pjd.enableLimit = true;
_joint = (PrismaticJoint)_world.CreateJoint(pjd);
}
}
public SliderCrank()
{
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = _world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vector2(-40.0, 0.0), new Vector2(40.0, 0.0));
ground.CreateFixture(shape, 0.0);
}
{
Body prevBody = ground;
// Define crank.
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.5, 2.0);
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(0.0, 7.0);
Body body = _world.CreateBody(bd);
body.CreateFixture(shape, 2.0);
RevoluteJointDef rjd = new RevoluteJointDef();
rjd.Initialize(prevBody, body, new Vector2(0.0, 5.0));
rjd.motorSpeed = 1.0 * Alt.Box2D.Settings.b2_pi;
rjd.maxMotorTorque = 10000.0;
rjd.enableMotor = true;
_joint1 = (RevoluteJoint)_world.CreateJoint(rjd);
prevBody = body;
}
// Define follower.
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.5, 4.0);
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(0.0f, 13.0f);
Body body = _world.CreateBody(bd);
body.CreateFixture(shape, 2.0f);
RevoluteJointDef rjd3 = new RevoluteJointDef();
rjd3.Initialize(prevBody, body, new Vector2(0.0f, 9.0f));
rjd3.enableMotor = false;
_world.CreateJoint(rjd3);
prevBody = body;
}
// Define piston
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(1.5f, 1.5f);
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(0.0f, 17.0f);
Body body = _world.CreateBody(bd);
body.CreateFixture(shape, 2.0f);
RevoluteJointDef rjd2 = new RevoluteJointDef();
rjd2.Initialize(prevBody, body, new Vector2(0.0f, 17.0f));
_world.CreateJoint(rjd2);
PrismaticJointDef pjd = new PrismaticJointDef();
pjd.Initialize(ground, body, new Vector2(0.0f, 17.0f), new Vector2(0.0f, 1.0f));
pjd.maxMotorForce = 1000.0f;
pjd.enableMotor = true;
_joint2 = (PrismaticJoint)_world.CreateJoint(pjd);
}
// Create a payload
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(1.5f, 1.5f);
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(0.0f, 23.0f);
Body body = _world.CreateBody(bd);
body.CreateFixture(shape, 2.0f);
}
}
}
/// <summary>
/// Add objects to the Box2d world.
/// </summary>
protected override void PopulateWorld()
{
// ==== Define the ground body ====
BodyDef groundBodyDef = new BodyDef();
groundBodyDef.Position.Set(0f, -0.25f);
// Call the body factory which creates the ground box shape.
// The body is also added to the world.
Body groundBody = _world.CreateBody(groundBodyDef);
// Define the ground box shape.
PolygonDef groundShapeDef = new PolygonDef();
// The extents are the half-widths of the box.
groundShapeDef.SetAsBox(_trackLengthHalf + 1f, 0.25f);
groundShapeDef.Friction = _simParams._defaultFriction;
groundShapeDef.Restitution = _simParams._defaultRestitution;
groundShapeDef.Filter.CategoryBits = 0x3;
// Add the ground shape to the ground body.
groundBody.CreateShape(groundShapeDef);
// ==== Define the cart body.
BodyDef cartBodyDef = new BodyDef();
cartBodyDef.Position.Set(0f, 0.15f);
// Create cart body.
_cartBody = _world.CreateBody(cartBodyDef);
PolygonDef cartShapeDef = new PolygonDef();
cartShapeDef.SetAsBox(0.5f, 0.125f);
cartShapeDef.Friction = 0f;
cartShapeDef.Restitution = 0f;
cartShapeDef.Density = 16f;
_cartBody.CreateShape(cartShapeDef);
_cartBody.SetMassFromShapes();
// Fix cart to 'track' (prismatic joint).
PrismaticJointDef cartTrackJointDef = new PrismaticJointDef();
cartTrackJointDef.EnableMotor = true;
cartTrackJointDef.LowerTranslation = -_trackLengthHalf;
cartTrackJointDef.UpperTranslation = _trackLengthHalf;
cartTrackJointDef.EnableLimit = true;
cartTrackJointDef.Initialize(groundBody, _cartBody, new Vec2(0f, 0f), new Vec2(1f, 0f));
_cartTrackJoint = (PrismaticJoint)_world.CreateJoint(cartTrackJointDef);
// ===== Create arm1.
const float poleRadius = 0.025f; // Half the thickness of the pole.
Vec2 arm1PosBase = new Vec2(0f, 0.275f);
Body arm1Body = CreatePole(arm1PosBase, _cartJointInitialAngle, poleRadius, 0f, 0f, 2f, 0x0);
// Join arm1 to cart.
RevoluteJointDef poleJointDef = new RevoluteJointDef();
poleJointDef.CollideConnected = false;
poleJointDef.EnableMotor = false;
poleJointDef.MaxMotorTorque = 0f;
poleJointDef.Initialize(_cartBody, arm1Body, arm1PosBase);
_cartJoint = (RevoluteJoint)_world.CreateJoint(poleJointDef);
// ===== Create arm2.
Vec2 arm2PosBase = CalcPoleEndPos(arm1Body);
Body arm2Body = CreatePole(arm2PosBase, _elbowJointInitialAngle, poleRadius, 0f, 0f, 2f, 0x0);
_arm2Body = arm2Body;
// Join arm2 to arm1.
poleJointDef.CollideConnected = false;
poleJointDef.EnableMotor = false;
poleJointDef.MaxMotorTorque = 0f;
poleJointDef.Initialize(arm1Body, arm2Body, arm2PosBase);
_elbowJoint = (RevoluteJoint)_world.CreateJoint(poleJointDef);
}
public BodyTypes()
{
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = _world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vector2(-20.0, 0.0), new Vector2(20.0, 0.0));
FixtureDef fd = new FixtureDef();
fd.shape = shape;
ground.CreateFixture(fd);
}
// Define attachment
{
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(0.0f, 3.0f);
_attachment = _world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.5f, 2.0f);
_attachment.CreateFixture(shape, 2.0f);
}
// Define platform
{
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(-4.0f, 5.0f);
_platform = _world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.5f, 4.0f, new Vector2(4.0f, 0.0f), 0.5f * (double)Math.PI);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.friction = 0.6f;
fd.density = 2.0f;
_platform.CreateFixture(fd);
RevoluteJointDef rjd = new RevoluteJointDef();
rjd.Initialize(_attachment, _platform, new Vector2(0.0f, 5.0f));
rjd.maxMotorTorque = 50.0f;
rjd.enableMotor = true;
_world.CreateJoint(rjd);
PrismaticJointDef pjd = new PrismaticJointDef();
pjd.Initialize(ground, _platform, new Vector2(0.0f, 5.0f), new Vector2(1.0f, 0.0f));
pjd.maxMotorForce = 1000.0f;
pjd.enableMotor = true;
pjd.lowerTranslation = -10.0f;
pjd.upperTranslation = 10.0f;
pjd.enableLimit = true;
_world.CreateJoint(pjd);
_speed = 3.0f;
}
// Create a payload
{
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(0.0f, 8.0f);
Body body = _world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.75f, 0.75f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.friction = 0.6f;
fd.density = 2.0f;
body.CreateFixture(fd);
}
}
Gears()
{
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = _world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vector2(50.0f, 0.0f), new Vector2(-50.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
{
CircleShape circle1 = new CircleShape();
circle1._radius = 1.0f;
CircleShape circle2 = new CircleShape();
circle2._radius = 2.0f;
PolygonShape box = new PolygonShape();
box.SetAsBox(0.5f, 5.0f);
BodyDef bd1 = new BodyDef();
bd1.type = BodyType.Dynamic;
bd1.position = new Vector2(-3.0f, 12.0f);
Body body1 = _world.CreateBody(bd1);
body1.CreateFixture(circle1, 5.0f);
RevoluteJointDef jd1 = new RevoluteJointDef();
jd1.bodyA = ground;
jd1.bodyB = body1;
jd1.localAnchorA = ground.GetLocalPoint(bd1.position);
jd1.localAnchorB = body1.GetLocalPoint(bd1.position);
jd1.referenceAngle = body1.GetAngle() - ground.GetAngle();
_joint1 = (RevoluteJoint)_world.CreateJoint(jd1);
BodyDef bd2 = new BodyDef();
bd2.type = BodyType.Dynamic;
bd2.position = new Vector2(0.0f, 12.0f);
Body body2 = _world.CreateBody(bd2);
body2.CreateFixture(circle2, 5.0f);
RevoluteJointDef jd2 = new RevoluteJointDef();
jd2.Initialize(ground, body2, bd2.position);
_joint2 = (RevoluteJoint)_world.CreateJoint(jd2);
BodyDef bd3 = new BodyDef();
bd3.type = BodyType.Dynamic;
bd3.position = new Vector2(2.5f, 12.0f);
Body body3 = _world.CreateBody(bd3);
body3.CreateFixture(box, 5.0f);
PrismaticJointDef jd3 = new PrismaticJointDef();
jd3.Initialize(ground, body3, bd3.position, new Vector2(0.0f, 1.0f));
jd3.lowerTranslation = -5.0f;
jd3.upperTranslation = 5.0f;
jd3.enableLimit = true;
_joint3 = (PrismaticJoint)_world.CreateJoint(jd3);
GearJointDef jd4 = new GearJointDef();
jd4.bodyA = body1;
jd4.bodyB = body2;
jd4.joint1 = _joint1;
jd4.joint2 = _joint2;
jd4.ratio = circle2._radius / circle1._radius;
_joint4 = (GearJoint)_world.CreateJoint(jd4);
GearJointDef jd5 = new GearJointDef();
jd5.bodyA = body2;
jd5.bodyB = body3;
jd5.joint1 = _joint2;
jd5.joint2 = _joint3;
jd5.ratio = -1.0f / circle2._radius;
_joint5 = (GearJoint)_world.CreateJoint(jd5);
}
}
public SliderCrank()
{
Body ground = null;
{
PolygonDef sd = new PolygonDef();
sd.SetAsBox(50.0f, 10.0f);
BodyDef bd = new BodyDef();
bd.Position.Set(0.0f, -10.0f);
ground = _world.CreateBody(bd);
ground.CreateFixture(sd);
}
{
// Define crank.
PolygonDef sd = new PolygonDef();
sd.SetAsBox(0.5f, 2.0f);
sd.Density = 1.0f;
RevoluteJointDef rjd = new RevoluteJointDef();
Body prevBody = ground;
BodyDef bd = new BodyDef();
bd.Position.Set(0.0f, 7.0f);
Body body = _world.CreateBody(bd);
body.CreateFixture(sd);
body.SetMassFromShapes();
rjd.Initialize(prevBody, body, new Vec2(0.0f, 5.0f));
rjd.MotorSpeed = 1.0f * Box2DNet.Common.Settings.Pi;
rjd.MaxMotorTorque = 10000.0f;
rjd.EnableMotor = true;
_joint1 = (RevoluteJoint)_world.CreateJoint(rjd);
prevBody = body;
// Define follower.
sd.SetAsBox(0.5f, 4.0f);
bd.Position.Set(0.0f, 13.0f);
body = _world.CreateBody(bd);
body.CreateFixture(sd);
body.SetMassFromShapes();
rjd.Initialize(prevBody, body, new Vec2(0.0f, 9.0f));
rjd.EnableMotor = false;
_world.CreateJoint(rjd);
prevBody = body;
// Define piston
sd.SetAsBox(1.5f, 1.5f);
bd.Position.Set(0.0f, 17.0f);
body = _world.CreateBody(bd);
body.CreateFixture(sd);
body.SetMassFromShapes();
rjd.Initialize(prevBody, body, new Vec2(0.0f, 17.0f));
_world.CreateJoint(rjd);
PrismaticJointDef pjd = new PrismaticJointDef();
pjd.Initialize(ground, body, new Vec2(0.0f, 17.0f), new Vec2(0.0f, 1.0f));
pjd.MaxMotorForce = 1000.0f;
pjd.EnableMotor = true;
_joint2 = (PrismaticJoint)_world.CreateJoint(pjd);
// Create a payload
sd.Density = 2.0f;
bd.Position.Set(0.0f, 23.0f);
body = _world.CreateBody(bd);
body.CreateFixture(sd);
body.SetMassFromShapes();
}
}
Gears()
{
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = _world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vector2(50.0f, 0.0f), new Vector2(-50.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
{
CircleShape circle1 = new CircleShape();
circle1._radius = 1.0f;
CircleShape circle2 = new CircleShape();
circle2._radius = 2.0f;
PolygonShape box = new PolygonShape();
box.SetAsBox(0.5f, 5.0f);
BodyDef bd1 = new BodyDef();
bd1.type = BodyType.Dynamic;
bd1.position = new Vector2(-3.0f, 12.0f);
Body body1 = _world.CreateBody(bd1);
body1.CreateFixture(circle1, 5.0f);
RevoluteJointDef jd1 = new RevoluteJointDef();
jd1.bodyA = ground;
jd1.bodyB = body1;
jd1.localAnchorA = ground.GetLocalPoint(bd1.position);
jd1.localAnchorB = body1.GetLocalPoint(bd1.position);
jd1.referenceAngle = body1.GetAngle() - ground.GetAngle();
_joint1 = (RevoluteJoint)_world.CreateJoint(jd1);
BodyDef bd2 = new BodyDef();
bd2.type = BodyType.Dynamic;
bd2.position = new Vector2(0.0f, 12.0f);
Body body2 = _world.CreateBody(bd2);
body2.CreateFixture(circle2, 5.0f);
RevoluteJointDef jd2 = new RevoluteJointDef();
jd2.Initialize(ground, body2, bd2.position);
_joint2 = (RevoluteJoint)_world.CreateJoint(jd2);
BodyDef bd3 = new BodyDef();
bd3.type = BodyType.Dynamic;
bd3.position = new Vector2(2.5f, 12.0f);
Body body3 = _world.CreateBody(bd3);
body3.CreateFixture(box, 5.0f);
PrismaticJointDef jd3 = new PrismaticJointDef();
jd3.Initialize(ground, body3, bd3.position, new Vector2(0.0f, 1.0f));
jd3.lowerTranslation = -5.0f;
jd3.upperTranslation = 5.0f;
jd3.enableLimit = true;
_joint3 = (PrismaticJoint)_world.CreateJoint(jd3);
GearJointDef jd4 = new GearJointDef();
jd4.bodyA = body1;
jd4.bodyB = body2;
jd4.joint1 = _joint1;
jd4.joint2 = _joint2;
jd4.ratio = circle2._radius / circle1._radius;
_joint4 = (GearJoint)_world.CreateJoint(jd4);
GearJointDef jd5 = new GearJointDef();
jd5.bodyA = body2;
jd5.bodyB = body3;
jd5.joint1 = _joint2;
jd5.joint2 = _joint3;
jd5.ratio = -1.0f / circle2._radius;
_joint5 = (GearJoint)_world.CreateJoint(jd5);
}
}
public GearJoint()
{
Body ground;
{
var bd = new BodyDef();
ground = World.CreateBody(bd);
var shape = new EdgeShape();
shape.SetTwoSided(new Vector2(50.0f, 0.0f), new Vector2(-50.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
{
var circle1 = new CircleShape();
circle1.Radius = 1.0f;
var box = new PolygonShape();
box.SetAsBox(0.5f, 5.0f);
var circle2 = new CircleShape();
circle2.Radius = 2.0f;
var bd1 = new BodyDef();
bd1.BodyType = BodyType.StaticBody;
bd1.Position.Set(10.0f, 9.0f);
var body1 = World.CreateBody(bd1);
body1.CreateFixture(circle1, 5.0f);
var bd2 = new BodyDef();
bd2.BodyType = BodyType.DynamicBody;
bd2.Position.Set(10.0f, 8.0f);
var body2 = World.CreateBody(bd2);
body2.CreateFixture(box, 5.0f);
var bd3 = new BodyDef();
bd3.BodyType = BodyType.DynamicBody;
bd3.Position.Set(10.0f, 6.0f);
var body3 = World.CreateBody(bd3);
body3.CreateFixture(circle2, 5.0f);
var jd1 = new RevoluteJointDef();
jd1.Initialize(body1, body2, bd1.Position);
var joint1 = World.CreateJoint(jd1);
var jd2 = new RevoluteJointDef();
jd2.Initialize(body2, body3, bd3.Position);
var joint2 = World.CreateJoint(jd2);
var jd4 = new GearJointDef();
jd4.BodyA = body1;
jd4.BodyB = body3;
jd4.Joint1 = joint1;
jd4.Joint2 = joint2;
jd4.Ratio = circle2.Radius / circle1.Radius;
World.CreateJoint(jd4);
}
{
var circle1 = new CircleShape();
circle1.Radius = 1.0f;
var circle2 = new CircleShape();
circle2.Radius = 2.0f;
var box = new PolygonShape();
box.SetAsBox(0.5f, 5.0f);
var bd1 = new BodyDef();
bd1.BodyType = BodyType.DynamicBody;
bd1.Position.Set(-3.0f, 12.0f);
var body1 = World.CreateBody(bd1);
body1.CreateFixture(circle1, 5.0f);
var jd1 = new RevoluteJointDef();
jd1.BodyA = ground;
jd1.BodyB = body1;
jd1.LocalAnchorA = ground.GetLocalPoint(bd1.Position);
jd1.LocalAnchorB = body1.GetLocalPoint(bd1.Position);
jd1.ReferenceAngle = body1.GetAngle() - ground.GetAngle();
_joint1 = (RevoluteJoint)World.CreateJoint(jd1);
var bd2 = new BodyDef();
bd2.BodyType = BodyType.DynamicBody;
bd2.Position.Set(0.0f, 12.0f);
var body2 = World.CreateBody(bd2);
body2.CreateFixture(circle2, 5.0f);
var jd2 = new RevoluteJointDef();
jd2.Initialize(ground, body2, bd2.Position);
_joint2 = (RevoluteJoint)World.CreateJoint(jd2);
var bd3 = new BodyDef();
bd3.BodyType = BodyType.DynamicBody;
bd3.Position.Set(2.5f, 12.0f);
var body3 = World.CreateBody(bd3);
body3.CreateFixture(box, 5.0f);
var jd3 = new PrismaticJointDef();
jd3.Initialize(ground, body3, bd3.Position, new Vector2(0.0f, 1.0f));
jd3.LowerTranslation = -5.0f;
jd3.UpperTranslation = 5.0f;
jd3.EnableLimit = true;
_joint3 = (PrismaticJoint)World.CreateJoint(jd3);
var jd4 = new GearJointDef();
jd4.BodyA = body1;
jd4.BodyB = body2;
jd4.Joint1 = _joint1;
jd4.Joint2 = _joint2;
jd4.Ratio = circle2.Radius / circle1.Radius;
_joint4 = (Box2DSharp.Dynamics.Joints.GearJoint)World.CreateJoint(jd4);
var jd5 = new GearJointDef();
jd5.BodyA = body2;
jd5.BodyB = body3;
jd5.Joint1 = _joint2;
jd5.Joint2 = _joint3;
jd5.Ratio = -1.0f / circle2.Radius;
_joint5 = (Box2DSharp.Dynamics.Joints.GearJoint)World.CreateJoint(jd5);
}
}
public void JointReactions()
{
var gravity = new Vector2(0, -10.0f);
World world = new World(gravity);
BodyDef bodyDef = new BodyDef();
Body ground = world.CreateBody(bodyDef);
CircleShape circle = new CircleShape();
circle.Radius = 1.0f;
FixtureDef fixtureDef = new FixtureDef();
// Disable collision
fixtureDef.Filter.MaskBits = 0;
fixtureDef.Density = 1.0f;
fixtureDef.Shape = circle;
bodyDef.BodyType = BodyType.DynamicBody;
bodyDef.Position.Set(-2.0f, 3.0f);
var bodyA = world.CreateBody(bodyDef);
var bodyB = world.CreateBody(bodyDef);
var bodyC = world.CreateBody(bodyDef);
circle.ComputeMass(out var massData, fixtureDef.Density);
var mg = massData.Mass * gravity.Y;
bodyA.CreateFixture(fixtureDef);
bodyB.CreateFixture(fixtureDef);
bodyC.CreateFixture(fixtureDef);
DistanceJointDef distanceJointDef = new DistanceJointDef();
distanceJointDef.Initialize(ground, bodyA, bodyDef.Position + new Vector2(0.0f, 4.0f), bodyDef.Position);
distanceJointDef.MinLength = distanceJointDef.Length;
distanceJointDef.MaxLength = distanceJointDef.Length;
PrismaticJointDef prismaticJointDef = new PrismaticJointDef();
prismaticJointDef.Initialize(ground, bodyB, bodyDef.Position, new Vector2(1.0f, 0.0f));
RevoluteJointDef revoluteJointDef = new RevoluteJointDef();
revoluteJointDef.Initialize(ground, bodyC, bodyDef.Position);
var distanceJoint = (DistanceJoint)world.CreateJoint(distanceJointDef);
var prismaticJoint = (PrismaticJoint)world.CreateJoint(prismaticJointDef);
var revoluteJoint = (RevoluteJoint)world.CreateJoint(revoluteJointDef);
const float timeStep = 1 / 60f;
const float invTimeStep = 60.0f;
const int velocityIterations = 6;
const int positionIterations = 2;
world.Step(timeStep, velocityIterations, positionIterations);
const float tol = 1e-5f;
{
var F = distanceJoint.GetReactionForce(invTimeStep);
var T = distanceJoint.GetReactionTorque(invTimeStep);
F.X.ShouldBe(0.0f);
Math.Abs(F.Y + mg).ShouldBeLessThan(tol);
T.ShouldBe(0.0f);
}
{
var F = prismaticJoint.GetReactionForce(invTimeStep);
var T = prismaticJoint.GetReactionTorque(invTimeStep);
F.X.ShouldBe(0.0f);
Math.Abs(F.Y + mg).ShouldBeLessThan(tol);
T.ShouldBe(0.0f);
}
{
var F = revoluteJoint.GetReactionForce(invTimeStep);
var T = revoluteJoint.GetReactionTorque(invTimeStep);
F.X.ShouldBe(0.0f);
Math.Abs(F.Y + mg).ShouldBeLessThan(tol);
T.ShouldBe(0.0f);
}
}
public static Joint AddJoint(this IJointable ithis, V2DJoint joint, float offsetX, float offsetY)
{
Joint result = null;
JointDef jointDef = null;
//Body targ0 = ithis.VScreen.bodyMap[joint.Body1];
//Body targ1 = ithis.VScreen.bodyMap[joint.Body2];
Body targ0 = GetBody(ithis, joint.Body1);
Body targ1 = GetBody(ithis, joint.Body2);
// gears need the first body static
if (targ0 != null && targ1 != null && targ1.GetType() == BodyType.Static && targ0.GetType() != BodyType.Static)
{
Body temp = targ0;
targ0 = targ1;
targ1 = temp;
}
Vector2 pt0 = new Vector2(joint.X + offsetX, joint.Y + offsetY);
string name = joint.Name;
Vector2 anchor0 = new Vector2(pt0.X / V2DScreen.WorldScale, pt0.Y / V2DScreen.WorldScale);
Vector2 anchor1 = new Vector2();
switch (joint.Type)
{
case V2DJointKind.Distance:
Vector2 pt1 = new Vector2(joint.X2 + offsetX, joint.Y2 + offsetY);
anchor1 = new Vector2(pt1.X / V2DScreen.WorldScale, pt1.Y / V2DScreen.WorldScale);
DistanceJointDef dj = new DistanceJointDef();
dj.Initialize(targ0, targ1, anchor0, anchor1);
dj.collideConnected = joint.CollideConnected;
dj.dampingRatio = joint.DampingRatio;
dj.frequencyHz = joint.FrequencyHz;
if (joint.Length != -1)
{
dj.length = joint.Length / V2DScreen.WorldScale;
}
jointDef = dj;
break;
case V2DJointKind.Revolute:
float rot0 = joint.Min; //(typeof(joint["min"]) == "string") ? parseFloat(joint["min"]) / 180 * Math.PI : joint["min"];
float rot1 = joint.Max; //(typeof(joint["max"]) == "string") ? parseFloat(joint["max"]) / 180 * Math.PI : joint["max"];
RevoluteJointDef rj = new RevoluteJointDef();
rj.Initialize(targ0, targ1, anchor0);
rj.lowerAngle = rot0;
rj.upperAngle = rot1;
rj.enableLimit = rot0 != 0 && rot1 != 0;
rj.maxMotorTorque = joint.MaxMotorTorque;
rj.motorSpeed = joint.MotorSpeed;
rj.enableMotor = joint.EnableMotor;
jointDef = rj;
break;
case V2DJointKind.Prismatic:
float axisX = joint.AxisX;
float axisY = joint.AxisY;
float min = joint.Min;
float max = joint.Max;
PrismaticJointDef pj = new PrismaticJointDef();
Vector2 worldAxis = new Vector2(axisX, axisY);
pj.Initialize(targ0, targ1, anchor0, worldAxis);
pj.lowerTranslation = min / V2DScreen.WorldScale;
pj.upperTranslation = max / V2DScreen.WorldScale;
pj.enableLimit = joint.EnableLimit;
pj.maxMotorForce = joint.MaxMotorTorque;
pj.motorSpeed = joint.MotorSpeed;
pj.enableMotor = joint.EnableMotor;
jointDef = pj;
break;
case V2DJointKind.Pully:
Vector2 pt2 = new Vector2(joint.X2 + offsetX, joint.Y2 + offsetY);
anchor1 = new Vector2(pt2.X / V2DScreen.WorldScale, pt2.Y / V2DScreen.WorldScale);
Vector2 groundAnchor0 = new Vector2(joint.GroundAnchor1X / V2DScreen.WorldScale, joint.GroundAnchor1Y / V2DScreen.WorldScale);
Vector2 groundAnchor1 = new Vector2(joint.GroundAnchor2X / V2DScreen.WorldScale, joint.GroundAnchor2Y / V2DScreen.WorldScale);
float max0 = joint.MaxLength1;
float max1 = joint.MaxLength2;
float rat = joint.Ratio;
PulleyJointDef puj = new PulleyJointDef();
puj.Initialize(targ0, targ1, groundAnchor0, groundAnchor1, anchor0, anchor1, rat);
puj.maxLengthA = (max0 + max1) / V2DScreen.WorldScale;
puj.maxLengthB = (max0 + max1) / V2DScreen.WorldScale;
puj.collideConnected = joint.CollideConnected;
jointDef = puj;
break;
case V2DJointKind.Gear:
GearJointDef gj = new GearJointDef();
gj.bodyA = targ0;
gj.bodyB = targ1;
gj.joint1 = GetFirstGearableJoint(targ0.GetJointList());
gj.joint2 = GetFirstGearableJoint(targ1.GetJointList());
gj.ratio = joint.Ratio;
jointDef = gj;
break;
}
if (jointDef != null)
{
result = SetJointWithReflection(ithis, name, jointDef);
if (result != null)
{
Dictionary <string, string> dict = new Dictionary <string, string>();
dict["name"] = name;
result.SetUserData(dict);
}
}
return(result);
}
public SliderCrank()
{
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);
}
{
Body prevBody = ground;
// Define crank.
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.5f, 2.0f);
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(0.0f, 7.0f);
Body body = _world.CreateBody(bd);
body.CreateFixture(shape, 2.0f);
RevoluteJointDef rjd = new RevoluteJointDef();
rjd.Initialize(prevBody, body, new Vector2(0.0f, 5.0f));
rjd.motorSpeed = 1.0f * (float)Settings.b2_pi;
rjd.maxMotorTorque = 10000.0f;
rjd.enableMotor = true;
_joint1 = (RevoluteJoint)_world.CreateJoint(rjd);
prevBody = body;
}
// Define follower.
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.5f, 4.0f);
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(0.0f, 13.0f);
Body body = _world.CreateBody(bd);
body.CreateFixture(shape, 2.0f);
RevoluteJointDef rjd3 = new RevoluteJointDef();
rjd3.Initialize(prevBody, body, new Vector2(0.0f, 9.0f));
rjd3.enableMotor = false;
_world.CreateJoint(rjd3);
prevBody = body;
}
// Define piston
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(1.5f, 1.5f);
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(0.0f, 17.0f);
Body body = _world.CreateBody(bd);
body.CreateFixture(shape, 2.0f);
RevoluteJointDef rjd2 = new RevoluteJointDef();
rjd2.Initialize(prevBody, body, new Vector2(0.0f, 17.0f));
_world.CreateJoint(rjd2);
PrismaticJointDef pjd = new PrismaticJointDef();
pjd.Initialize(ground, body, new Vector2(0.0f, 17.0f), new Vector2(0.0f, 1.0f));
pjd.maxMotorForce = 1000.0f;
pjd.enableMotor = true;
_joint2 = (PrismaticJoint)_world.CreateJoint(pjd);
}
// Create a payload
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(1.5f, 1.5f);
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(0.0f, 23.0f);
Body body = _world.CreateBody(bd);
body.CreateFixture(shape, 2.0f);
}
}
}
// Main...
public ElasticBody()
{
// Bottom static body
{
PolygonDef sd = new PolygonDef();
sd.SetAsBox(50.0f, 2.0f);
sd.Friction = 0.1f;
sd.Restitution = 0.1f;
BodyDef bd = new BodyDef();
bd.Position.Set(-1.0f, -7.5f);
_ground = _world.CreateBody(bd);
_ground.CreateFixture(sd);
}
// Upper static body
{
PolygonDef sd = new PolygonDef();
sd.SetAsBox(20.0f, 0.50f, new Vec2(0.0f, 0.0f), 0.047f * Box2DNet.Common.Settings.Pi);
sd.Friction = 0.01f;
sd.Restitution = 0.001f;
BodyDef bd = new BodyDef();
bd.Position.Set(-20.0f, 93.0f);
Body g = _world.CreateBody(bd);
g.CreateFixture(sd);
sd.SetAsBox(15.0f, 0.50f, new Vec2(-15.0f, 12.5f), 0.0f);
g.CreateFixture(sd);
sd.SetAsBox(20.0f, 0.5f, new Vec2(0.0f, -25.0f), -0.5f);
g.CreateFixture(sd);
}
// Left channel left wall
{
PolygonDef sd = new PolygonDef();
sd.SetAsBox(0.7f, 55.0f);
sd.Friction = 0.1f;
sd.Restitution = 0.1f;
BodyDef bd = new BodyDef();
bd.Position.Set(-49.3f, 50.0f);
Body g = _world.CreateBody(bd);
g.CreateFixture(sd);
}
// Right wall
{
PolygonDef sd = new PolygonDef();
sd.SetAsBox(0.7f, 55.0f);
sd.Friction = 0.1f;
sd.Restitution = 0.1f;
BodyDef bd = new BodyDef();
bd.Position.Set(45.0f, 50.0f);
Body g = _world.CreateBody(bd);
g.CreateFixture(sd);
}
// Left channel right upper wall
{
PolygonDef sd = new PolygonDef();
sd.SetAsBox(0.5f, 20.0f);
sd.Friction = 0.05f;
sd.Restitution = 0.01f;
BodyDef bd = new BodyDef();
bd.Position.Set(-42.0f, 70.0f);
bd.Angle = -0.03f * Box2DNet.Common.Settings.Pi;
Body g = _world.CreateBody(bd);
g.CreateFixture(sd);
}
// Left channel right lower wall
{
PolygonDef sd = new PolygonDef();
sd.SetAsBox(0.50f, 23.0f);
sd.Friction = 0.05f;
sd.Restitution = 0.01f;
BodyDef bd = new BodyDef();
bd.Position.Set(-44.0f, 27.0f);
Body g = _world.CreateBody(bd);
g.CreateFixture(sd);
// Bottom motors
CircleDef cd = new CircleDef();
cd.Radius = 3.0f;
cd.Density = 15.0f;
cd.Friction = 1.0f;
cd.Restitution = 0.2f;
// 1.
bd.Position.Set(-40.0f, 2.5f);
Body body = _world.CreateBody(bd);
body.CreateFixture(cd);
body.SetMassFromShapes();
RevoluteJointDef jr = new RevoluteJointDef();
jr.Initialize(g, body, body.GetWorldCenter() + new Vec2(0.0f, 1.0f));
jr.MaxMotorTorque = 30000.0f;
jr.EnableMotor = true;
jr.MotorSpeed = 20.0f;
_world.CreateJoint(jr);
// 1. left down
bd.Position.Set(-46.0f, -2.5f);
cd.Radius = 1.5f; jr.MotorSpeed = -20.0f;
body = _world.CreateBody(bd);
body.CreateFixture(cd);
sd.SetAsBox(2.0f, 0.50f);
body.CreateFixture(sd);
body.SetMassFromShapes();
jr.Initialize(g, body, body.GetWorldCenter());
_world.CreateJoint(jr);
// 2.
cd.Radius = 3.0f; jr.MotorSpeed = 20.0f;
bd.Position.Set(-32.0f, 2.5f);
body = _world.CreateBody(bd);
body.CreateFixture(cd);
body.SetMassFromShapes();
jr.Initialize(g, body, body.GetWorldCenter() + new Vec2(0.0f, 1.0f));
_world.CreateJoint(jr);
// 3.
jr.MotorSpeed = 20.0f;
bd.Position.Set(-24.0f, 1.5f);
body = _world.CreateBody(bd);
body.CreateFixture(cd);
body.SetMassFromShapes();
jr.Initialize(g, body, body.GetWorldCenter() + new Vec2(0.0f, 1.0f));
_world.CreateJoint(jr);
// 4.
bd.Position.Set(-16.0f, 0.8f);
body = _world.CreateBody(bd);
body.CreateFixture(cd);
body.SetMassFromShapes();
jr.Initialize(g, body, body.GetWorldCenter() + new Vec2(0.0f, 1.0f));
_world.CreateJoint(jr);
// 5.
bd.Position.Set(-8.0f, 0.5f);
body = _world.CreateBody(bd);
body.CreateFixture(cd);
body.SetMassFromShapes();
jr.Initialize(g, body, body.GetWorldCenter() + new Vec2(0.0f, 1.0f));
_world.CreateJoint(jr);
// 6.
bd.Position.Set(0.0f, 0.1f);
body = _world.CreateBody(bd);
body.CreateFixture(cd);
body.SetMassFromShapes();
jr.Initialize(g, body, body.GetWorldCenter() + new Vec2(0.0f, 1.0f));
_world.CreateJoint(jr);
// 7.
bd.Position.Set(8.0f, -0.5f);
body = _world.CreateBody(bd);
body.CreateFixture(cd);
sd.SetAsBox(3.7f, 0.5f);
body.CreateFixture(sd);
body.SetMassFromShapes();
jr.Initialize(g, body, body.GetWorldCenter() + new Vec2(0.0f, 1.0f));
_world.CreateJoint(jr);
// 8. right rotator
sd.SetAsBox(5.0f, 0.5f);
sd.Density = 2.0f;
bd.Position.Set(18.0f, 1.0f);
Body rightmotor = _world.CreateBody(bd);
rightmotor.CreateFixture(sd);
sd.SetAsBox(4.5f, 0.5f, new Vec2(0.0f, 0.0f), Box2DNet.Common.Settings.Pi / 3.0f);
rightmotor.CreateFixture(sd);
sd.SetAsBox(4.5f, 0.5f, new Vec2(0.0f, 0.0f), Box2DNet.Common.Settings.Pi * 2.0f / 3.0f);
rightmotor.CreateFixture(sd);
cd.Radius = 4.2f;
rightmotor.CreateFixture(cd);
rightmotor.SetMassFromShapes();
jr.Initialize(g, rightmotor, rightmotor.GetWorldCenter());
jr.MaxMotorTorque = 70000.0f;
jr.MotorSpeed = -4.0f;
_world.CreateJoint(jr);
// 9. left rotator
sd.SetAsBox(8.5f, 0.5f);
sd.Density = 2.0f;
bd.Position.Set(-34.0f, 17.0f);
body = _world.CreateBody(bd);
body.CreateFixture(sd);
sd.SetAsBox(8.5f, 0.5f, new Vec2(0.0f, 0.0f), Box2DNet.Common.Settings.Pi * .5f);
body.CreateFixture(sd);
cd.Radius = 7.0f;
cd.Friction = 0.9f;
body.CreateFixture(cd);
body.SetMassFromShapes();
jr.Initialize(g, body, body.GetWorldCenter());
jr.MaxMotorTorque = 100000.0f;
jr.MotorSpeed = -5.0f;
_world.CreateJoint(jr);
// big compressor
sd.SetAsBox(3.0f, 4.0f);
sd.Density = 10.0f;
bd.Position.Set(-16.0f, 17.0f);
Body hammerleft = _world.CreateBody(bd);
hammerleft.CreateFixture(sd);
hammerleft.SetMassFromShapes();
DistanceJointDef jd = new DistanceJointDef();
jd.Initialize(body, hammerleft, body.GetWorldCenter() + new Vec2(0.0f, 6.0f), hammerleft.GetWorldCenter());
_world.CreateJoint(jd);
bd.Position.Set(4.0f, 17.0f);
Body hammerright = _world.CreateBody(bd);
hammerright.CreateFixture(sd);
hammerright.SetMassFromShapes();
jd.Initialize(body, hammerright, body.GetWorldCenter() - new Vec2(0.0f, 6.0f), hammerright.GetWorldCenter());
_world.CreateJoint(jd);
// pusher
sd.SetAsBox(6.0f, 0.75f);
bd.Position.Set(-21.0f, 9.0f);
Body pusher = _world.CreateBody(bd);
pusher.CreateFixture(sd);
sd.SetAsBox(2.0f, 1.5f, new Vec2(-5.0f, 0.0f), 0.0f);
pusher.SetMassFromShapes();
pusher.CreateFixture(sd);
jd.Initialize(rightmotor, pusher, rightmotor.GetWorldCenter() + new Vec2(-8.0f, 0.0f),
pusher.GetWorldCenter() + new Vec2(5.0f, 0.0f));
_world.CreateJoint(jd);
}
// Static bodies above motors
{
PolygonDef sd = new PolygonDef();
CircleDef cd = new CircleDef();
sd.SetAsBox(9.0f, 0.5f);
sd.Friction = 0.05f;
sd.Restitution = 0.01f;
BodyDef bd = new BodyDef();
bd.Position.Set(-15.5f, 12.0f);
bd.Angle = 0.0f;
Body g = _world.CreateBody(bd);
g.CreateFixture(sd);
sd.SetAsBox(8.0f, 0.5f, new Vec2(23.0f, 0.0f), 0.0f);
g.CreateFixture(sd);
// compressor statics
sd.SetAsBox(7.0f, 0.5f, new Vec2(-2.0f, 9.0f), 0.0f);
g.CreateFixture(sd);
sd.SetAsBox(9.0f, 0.5f, new Vec2(22.0f, 9.0f), 0.0f);
g.CreateFixture(sd);
sd.SetAsBox(19.0f, 0.5f, new Vec2(-9.0f, 15.0f), -0.05f);
g.CreateFixture(sd);
sd.SetAsBox(4.7f, 0.5f, new Vec2(15.0f, 11.5f), -0.5f);
g.CreateFixture(sd);
// below compressor
sd.SetAsBox(26.0f, 0.3f, new Vec2(17.0f, -4.4f), -0.02f);
g.CreateFixture(sd);
cd.Radius = 1.0f; cd.Friction = 1.0f;
cd.LocalPosition = new Vec2(29.0f, -6.0f);
g.CreateFixture(cd);
cd.Radius = 0.7f;
cd.LocalPosition = new Vec2(-2.0f, -4.5f);
g.CreateFixture(cd);
}
// Elevator
{
BodyDef bd = new BodyDef();
CircleDef cd = new CircleDef();
PolygonDef sd = new PolygonDef();
bd.Position.Set(40.0f, 4.0f);
_elev = _world.CreateBody(bd);
sd.SetAsBox(0.5f, 2.5f, new Vec2(3.0f, -3.0f), 0.0f);
sd.Density = 1.0f;
sd.Friction = 0.01f;
_elev.CreateFixture(sd);
sd.SetAsBox(7.0f, 0.5f, new Vec2(-3.5f, -5.5f), 0.0f);
_elev.CreateFixture(sd);
sd.SetAsBox(0.5f, 2.5f, new Vec2(-11.0f, -3.5f), 0.0f);
_elev.CreateFixture(sd);
_elev.SetMassFromShapes();
PrismaticJointDef jp = new PrismaticJointDef();
jp.Initialize(_ground, _elev, bd.Position, new Vec2(0.0f, 1.0f));
jp.LowerTranslation = 0.0f;
jp.UpperTranslation = 100.0f;
jp.EnableLimit = true;
jp.EnableMotor = true;
jp.MaxMotorForce = 10000.0f;
jp.MotorSpeed = 0.0f;
_joint_elev = (PrismaticJoint)_world.CreateJoint(jp);
// Korb
sd.SetAsBox(2.3f, 0.5f, new Vec2(1.0f, 0.0f), 0.0f);
sd.Density = 0.5f;
bd.Position.Set(29.0f, 6.5f);
Body body = _world.CreateBody(bd);
body.CreateFixture(sd);
sd.SetAsBox(2.5f, 0.5f, new Vec2(3.0f, -2.0f), Box2DNet.Common.Settings.Pi / 2.0f);
body.CreateFixture(sd);
sd.SetAsBox(4.6f, 0.5f, new Vec2(7.8f, -4.0f), 0.0f);
body.CreateFixture(sd);
sd.SetAsBox(0.5f, 4.5f, new Vec2(12.0f, 0.0f), 0.0f);
body.CreateFixture(sd);
sd.SetAsBox(0.5f, 0.5f, new Vec2(13.0f, 4.0f), 0.0f);
body.CreateFixture(sd);
cd.Radius = 0.7f; cd.Density = 1.0f; cd.Friction = 0.01f;
cd.LocalPosition = new Vec2(0.0f, 0.0f);
body.CreateFixture(cd);
body.SetMassFromShapes();
RevoluteJointDef jr = new RevoluteJointDef();
jr.Initialize(_elev, body, bd.Position);
jr.EnableLimit = true;
jr.LowerAngle = -0.2f;
jr.UpperAngle = Box2DNet.Common.Settings.Pi * 1.1f;
jr.CollideConnected = true;
_world.CreateJoint(jr);
// upper body exit
sd.SetAsBox(14.0f, 0.5f, new Vec2(-3.5f, -10.0f), 0.0f);
bd.Position.Set(17.5f, 96.0f);
body = _world.CreateBody(bd);
body.CreateFixture(sd);
}
// "Elastic body" 64 bodies - something like a lin. elastic compound
// connected via dynamic forces (springs)
{
PolygonDef sd = new PolygonDef();
sd.SetAsBox(0.55f, 0.55f);
sd.Density = 1.5f;
sd.Friction = 0.01f;
sd.Filter.GroupIndex = -1;
Vec2 startpoint = new Vec2(30.0f, 20.0f);
BodyDef bd = new BodyDef();
bd.IsBullet = false;
bd.AllowSleep = false;
for (int i = 0; i < 8; ++i)
{
for (int j = 0; j < 8; ++j)
{
bd.Position.Set(j * 1.02f, 2.51f + 1.02f * i);
bd.Position += startpoint;
Body body = _world.CreateBody(bd);
bodies[8 * i + j] = body;
body.CreateFixture(sd);
body.SetMassFromShapes();
}
}
}
}
public BodyTypes()
{
Body ground;
{
var bd = new BodyDef();
ground = World.CreateBody(bd);
var shape = new EdgeShape();
shape.Set(new Vector2(-20.0f, 0.0f), new Vector2(20.0f, 0.0f));
var fd = new FixtureDef();
fd.Shape = shape;
ground.CreateFixture(fd);
}
// Define attachment
{
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position.Set(0.0f, 3.0f);
_attachment = World.CreateBody(bd);
var shape = new PolygonShape();
shape.SetAsBox(0.5f, 2.0f);
_attachment.CreateFixture(shape, 2.0f);
}
// Define platform
{
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position.Set(-4.0f, 5.0f);
_platform = World.CreateBody(bd);
var shape = new PolygonShape();
shape.SetAsBox(0.5f, 4.0f, new Vector2(4.0f, 0.0f), 0.5f * Settings.Pi);
var fd = new FixtureDef();
fd.Shape = shape;
fd.Friction = 0.6f;
fd.Density = 2.0f;
_platform.CreateFixture(fd);
var rjd = new RevoluteJointDef();
rjd.Initialize(_attachment, _platform, new Vector2(0.0f, 5.0f));
rjd.MaxMotorTorque = 50.0f;
rjd.EnableMotor = true;
World.CreateJoint(rjd);
var pjd = new PrismaticJointDef();
pjd.Initialize(ground, _platform, new Vector2(0.0f, 5.0f), new Vector2(1.0f, 0.0f));
pjd.MaxMotorForce = 1000.0f;
pjd.EnableMotor = true;
pjd.LowerTranslation = -10.0f;
pjd.UpperTranslation = 10.0f;
pjd.EnableLimit = true;
World.CreateJoint(pjd);
_speed = 3.0f;
}
// Create a payload
{
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position.Set(0.0f, 8.0f);
var body = World.CreateBody(bd);
var shape = new PolygonShape();
shape.SetAsBox(0.75f, 0.75f);
var fd = new FixtureDef();
fd.Shape = shape;
fd.Friction = 0.6f;
fd.Density = 2.0f;
body.CreateFixture(fd);
}
}
public BodyTypes()
{
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = _world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vector2(-20.0f, 0.0f), new Vector2(20.0f, 0.0f));
FixtureDef fd = new FixtureDef();
fd.shape = shape;
ground.CreateFixture(fd);
}
// Define attachment
{
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(0.0f, 3.0f);
_attachment = _world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.5f, 2.0f);
_attachment.CreateFixture(shape, 2.0f);
}
// Define platform
{
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(-4.0f, 5.0f);
_platform = _world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.5f, 4.0f, new Vector2(4.0f, 0.0f), 0.5f * (float)Math.PI);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.friction = 0.6f;
fd.density = 2.0f;
_platform.CreateFixture(fd);
RevoluteJointDef rjd = new RevoluteJointDef();
rjd.Initialize(_attachment, _platform, new Vector2(0.0f, 5.0f));
rjd.maxMotorTorque = 50.0f;
rjd.enableMotor = true;
_world.CreateJoint(rjd);
PrismaticJointDef pjd = new PrismaticJointDef();
pjd.Initialize(ground, _platform, new Vector2(0.0f, 5.0f), new Vector2(1.0f, 0.0f));
pjd.maxMotorForce = 1000.0f;
pjd.enableMotor = true;
pjd.lowerTranslation = -10.0f;
pjd.upperTranslation = 10.0f;
pjd.enableLimit = true;
_world.CreateJoint(pjd);
_speed = 3.0f;
}
// Create a payload
{
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(0.0f, 8.0f);
Body body = _world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.75f, 0.75f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.friction = 0.6f;
fd.density = 2.0f;
body.CreateFixture(fd);
}
}
public SliderCrank()
{
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = m_world.CreateBody(bd);
EdgeShape shape = new EdgeShape();
shape.Set(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
shape.Density = 0;
ground.CreateFixture(shape);
}
{
Body prevBody = ground;
// Define crank.
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.5f, 2.0f);
shape.Density = 2;
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(0.0f, 7.0f);
Body body = m_world.CreateBody(bd);
body.CreateFixture(shape);
RevoluteJointDef rjd = new RevoluteJointDef();
rjd.Initialize(prevBody, body, new Vec2(0.0f, 5.0f));
rjd.motorSpeed = 1.0f * (float)Math.PI;
rjd.maxMotorTorque = 10000.0f;
rjd.enableMotor = true;
m_joint1 = (RevoluteJoint)m_world.CreateJoint(rjd);
prevBody = body;
}
// Define follower.
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.5f, 4.0f);
shape.Density = 2;
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(0.0f, 13.0f);
Body body = m_world.CreateBody(bd);
body.CreateFixture(shape);
RevoluteJointDef rjd = new RevoluteJointDef();
rjd.Initialize(prevBody, body, new Vec2(0.0f, 9.0f));
rjd.enableMotor = false;
m_world.CreateJoint(rjd);
prevBody = body;
}
// Define piston
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(1.5f, 1.5f);
shape.Density = 2;
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.fixedRotation = true;
bd.Position.Set(0.0f, 17.0f);
Body body = m_world.CreateBody(bd);
body.CreateFixture(shape);
RevoluteJointDef rjd = new RevoluteJointDef();
rjd.Initialize(prevBody, body, new Vec2(0.0f, 17.0f));
m_world.CreateJoint(rjd);
PrismaticJointDef pjd = new PrismaticJointDef();
pjd.Initialize(ground, body, new Vec2(0.0f, 17.0f), new Vec2(0.0f, 1.0f));
pjd.maxMotorForce = 1000.0f;
pjd.enableMotor = true;
m_joint2 = (PrismaticJoint)m_world.CreateJoint(pjd);
}
// Create a payload
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(1.5f, 1.5f);
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(0.0f, 23.0f);
Body body = m_world.CreateBody(bd);
shape.Density = 2;
body.CreateFixture(shape);
}
}
}
public Gears()
{
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = m_world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vec2(50.0f, 0.0f), new Vec2(-50.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
{
CircleShape circle1 = new CircleShape();
circle1.Radius = 1.0f;
CircleShape circle2 = new CircleShape();
circle2.Radius = 2.0f;
PolygonShape box = new PolygonShape();
box.SetAsBox(0.5f, 5.0f);
BodyDef bd1 = new BodyDef();
bd1.BodyType = BodyType.Dynamic;
bd1.Position = new Vec2(-3.0f, 12.0f);
Body body1 = m_world.CreateBody(bd1);
body1.CreateFixture(circle1, 5.0f);
RevoluteJointDef jd1 = new RevoluteJointDef();
jd1.BodyA = ground;
jd1.BodyB = body1;
jd1.LocalAnchorA = ground.GetLocalPoint(bd1.Position);
jd1.LocalAnchorB = body1.GetLocalPoint(bd1.Position);
jd1.ReferenceAngle = body1.Angle - ground.Angle;
m_joint1 = (RevoluteJoint)m_world.CreateJoint(jd1);
BodyDef bd2 = new BodyDef();
bd2.BodyType = BodyType.Dynamic;
bd2.Position = new Vec2(0.0f, 12.0f);
Body body2 = m_world.CreateBody(bd2);
body2.CreateFixture(circle2, 5.0f);
RevoluteJointDef jd2 = new RevoluteJointDef();
jd2.Initialize(ground, body2, bd2.Position);
m_joint2 = (RevoluteJoint)m_world.CreateJoint(jd2);
BodyDef bd3 = new BodyDef();
bd3.BodyType = BodyType.Dynamic;
bd3.Position = new Vec2(2.5f, 12.0f);
Body body3 = m_world.CreateBody(bd3);
body3.CreateFixture(box, 5.0f);
PrismaticJointDef jd3 = new PrismaticJointDef();
jd3.Initialize(ground, body3, bd3.Position, new Vec2(0.0f, 1.0f));
jd3.LowerTranslation = -5.0f;
jd3.UpperTranslation = 5.0f;
jd3.EnableLimit = true;
m_joint3 = (PrismaticJoint)m_world.CreateJoint(jd3);
GearJointDef jd4 = new GearJointDef();
jd4.BodyA = body1;
jd4.BodyB = body2;
jd4.JointA = m_joint1;
jd4.JointB = m_joint2;
jd4.Ratio = circle2.Radius / circle1.Radius;
m_joint4 = (GearJoint)m_world.CreateJoint(jd4);
GearJointDef jd5 = new GearJointDef();
jd5.BodyA = body2;
jd5.BodyB = body3;
jd5.JointA = m_joint2;
jd5.JointB = m_joint3;
jd5.Ratio = -1.0f / circle2.Radius;
m_joint5 = (GearJoint)m_world.CreateJoint(jd5);
}
}
public SliderCrank()
{
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 prevBody = ground;
// Define crank.
{
var shape = new PolygonShape();
shape.SetAsBox(0.5f, 2.0f);
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position = new Vector2(0.0f, 7.0f);
var body = World.CreateBody(bd);
body.CreateFixture(shape, 2.0f);
var rjd = new RevoluteJointDef();
rjd.Initialize(prevBody, body, new Vector2(0.0f, 5.0f));
rjd.MotorSpeed = 1.0f * Settings.Pi;
rjd.MaxMotorTorque = 10000.0f;
rjd.EnableMotor = true;
_joint1 = (RevoluteJoint)World.CreateJoint(rjd);
prevBody = body;
}
// Define follower.
{
var shape = new PolygonShape();
shape.SetAsBox(0.5f, 4.0f);
var bd = new BodyDef {
BodyType = BodyType.DynamicBody, Position = new Vector2(0.0f, 13.0f)
};
var body = World.CreateBody(bd);
body.CreateFixture(shape, 2.0f);
var rjd = new RevoluteJointDef();
rjd.Initialize(prevBody, body, new Vector2(0.0f, 9.0f));
rjd.EnableMotor = false;
World.CreateJoint(rjd);
prevBody = body;
}
// Define piston
{
var shape = new PolygonShape();
shape.SetAsBox(1.5f, 1.5f);
var bd = new BodyDef
{
BodyType = BodyType.DynamicBody, FixedRotation = true,
Position = new Vector2(0.0f, 17.0f)
};
var body = World.CreateBody(bd);
body.CreateFixture(shape, 2.0f);
var rjd = new RevoluteJointDef();
rjd.Initialize(prevBody, body, new Vector2(0.0f, 17.0f));
World.CreateJoint(rjd);
var pjd = new PrismaticJointDef();
pjd.Initialize(ground, body, new Vector2(0.0f, 17.0f), new Vector2(0.0f, 1.0f));
pjd.MaxMotorForce = 1000.0f;
pjd.EnableMotor = true;
_joint2 = (PrismaticJoint)World.CreateJoint(pjd);
}
// Create a payload
{
var shape = new PolygonShape();
shape.SetAsBox(1.5f, 1.5f);
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position = new Vector2(0.0f, 23.0f);
var body = World.CreateBody(bd);
body.CreateFixture(shape, 2.0f);
}
}
}
private SliderCrank1Test()
{
Body ground;
{
BodyDef bd = new BodyDef();
bd.Position = new Vector2(0.0f, 17.0f);
ground = BodyFactory.CreateFromDef(World, bd);
}
{
Body prevBody = ground;
// Define crank.
{
PolygonShape shape = new PolygonShape(2.0f);
shape.SetAsBox(4.0f, 1.0f);
BodyDef bd = new BodyDef();
bd.Type = BodyType.Dynamic;
bd.Position = new Vector2(-8.0f, 20.0f);
Body body = BodyFactory.CreateFromDef(World, bd);
body.AddFixture(shape);
RevoluteJointDef rjd = new RevoluteJointDef();
rjd.Initialize(prevBody, body, new Vector2(-12.0f, 20.0f));
JointFactory.CreateFromDef(World, rjd);
prevBody = body;
}
// Define connecting rod
{
PolygonShape shape = new PolygonShape(2.0f);
shape.SetAsBox(8.0f, 1.0f);
BodyDef bd = new BodyDef();
bd.Type = BodyType.Dynamic;
bd.Position = new Vector2(4.0f, 20.0f);
Body body = BodyFactory.CreateFromDef(World, bd);
body.AddFixture(shape);
RevoluteJointDef rjd = new RevoluteJointDef();
rjd.Initialize(prevBody, body, new Vector2(-4.0f, 20.0f));
JointFactory.CreateFromDef(World, rjd);
prevBody = body;
}
// Define piston
{
PolygonShape shape = new PolygonShape(2.0f);
shape.SetAsBox(3.0f, 3.0f);
BodyDef bd = new BodyDef();
bd.Type = BodyType.Dynamic;
bd.FixedRotation = true;
bd.Position = new Vector2(12.0f, 20.0f);
Body body = BodyFactory.CreateFromDef(World, bd);
body.AddFixture(shape);
RevoluteJointDef rjd = new RevoluteJointDef();
rjd.Initialize(prevBody, body, new Vector2(12.0f, 20.0f));
JointFactory.CreateFromDef(World, rjd);
PrismaticJointDef pjd = new PrismaticJointDef();
pjd.Initialize(ground, body, new Vector2(12.0f, 17.0f), new Vector2(1.0f, 0.0f));
JointFactory.CreateFromDef(World, pjd);
}
}
}
public Gears()
{
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = m_world.CreateBody(bd);
EdgeShape shape = new EdgeShape();
shape.Set(new Vec2(50.0f, 0.0f), new Vec2(-50.0f, 0.0f));
shape.Density = 0;
ground.CreateFixture(shape);
}
{
CircleShape circle1 = new CircleShape();
circle1.m_radius = 1.0f;
circle1.Density = 5;
PolygonShape box = new PolygonShape();
box.SetAsBox(0.5f, 5.0f);
box.Density = 5;
CircleShape circle2 = new CircleShape();
circle2.m_radius = 2.0f;
circle2.Density = 5;
BodyDef bd1 = new BodyDef();
bd1.type = BodyType._staticBody;
bd1.Position.Set(10.0f, 9.0f);
Body body1 = m_world.CreateBody(bd1);
body1.CreateFixture(circle1);
BodyDef bd2 = new BodyDef();
bd2.type = BodyType._dynamicBody;
bd2.Position.Set(10.0f, 8.0f);
Body body2 = m_world.CreateBody(bd2);
body2.CreateFixture(box);
BodyDef bd3 = new BodyDef();
bd3.type = BodyType._dynamicBody;
bd3.Position.Set(10.0f, 6.0f);
Body body3 = m_world.CreateBody(bd3);
body3.CreateFixture(circle2);
RevoluteJointDef jd1 = new RevoluteJointDef();
jd1.Initialize(body2, body1, bd1.Position);
Joint joint1 = m_world.CreateJoint(jd1);
RevoluteJointDef jd2 = new RevoluteJointDef();
jd2.Initialize(body2, body3, bd3.Position);
Joint joint2 = m_world.CreateJoint(jd2);
GearJointDef jd4 = new GearJointDef();
jd4.bodyA = body1;
jd4.bodyB = body3;
jd4.joint1 = joint1;
jd4.joint2 = joint2;
jd4.ratio = circle2.m_radius / circle1.m_radius;
m_world.CreateJoint(jd4);
}
{
CircleShape circle1 = new CircleShape();
circle1.m_radius = 1.0f;
circle1.Density = 5;
CircleShape circle2 = new CircleShape();
circle2.m_radius = 2.0f;
circle2.Density = 5;
PolygonShape box = new PolygonShape();
box.SetAsBox(0.5f, 5.0f);
BodyDef bd1 = new BodyDef();
bd1.type = BodyType._dynamicBody;
bd1.Position.Set(-3.0f, 12.0f);
Body body1 = m_world.CreateBody(bd1);
body1.CreateFixture(circle1);
RevoluteJointDef jd1 = new RevoluteJointDef();
jd1.bodyA = ground;
jd1.bodyB = body1;
jd1.localAnchorA = ground.GetLocalPoint(bd1.Position);
jd1.localAnchorB = body1.GetLocalPoint(bd1.Position);
jd1.referenceAngle = body1.GetAngle() - ground.GetAngle();
m_joint1 = (RevoluteJoint)m_world.CreateJoint(jd1);
BodyDef bd2 = new BodyDef();
bd2.type = BodyType._dynamicBody;
bd2.Position.Set(0.0f, 12.0f);
Body body2 = m_world.CreateBody(bd2);
body2.CreateFixture(circle2);
RevoluteJointDef jd2 = new RevoluteJointDef();
jd2.Initialize(ground, body2, bd2.Position);
m_joint2 = (RevoluteJoint)m_world.CreateJoint(jd2);
BodyDef bd3 = new BodyDef();
bd3.type = BodyType._dynamicBody;
bd3.Position.Set(2.5f, 12.0f);
Body body3 = m_world.CreateBody(bd3);
box.Density = 5;
body3.CreateFixture(box);
PrismaticJointDef jd3 = new PrismaticJointDef();
jd3.Initialize(ground, body3, bd3.Position, new Vec2(0.0f, 1.0f));
jd3.lowerTranslation = -5.0f;
jd3.upperTranslation = 5.0f;
jd3.enableLimit = true;
m_joint3 = (PrismaticJoint)m_world.CreateJoint(jd3);
GearJointDef jd4 = new GearJointDef();
jd4.bodyA = body1;
jd4.bodyB = body2;
jd4.joint1 = m_joint1;
jd4.joint2 = m_joint2;
jd4.ratio = circle2.m_radius / circle1.m_radius;
m_joint4 = (GearJoint)m_world.CreateJoint(jd4);
GearJointDef jd5 = new GearJointDef();
jd5.bodyA = body2;
jd5.bodyB = body3;
jd5.joint1 = m_joint2;
jd5.joint2 = m_joint3;
jd5.ratio = -1.0f / circle2.m_radius;
m_joint5 = (GearJoint)m_world.CreateJoint(jd5);
}
}
public Gears()
{
Body ground = null;
{
BodyDef bd = new BodyDef();
bd.Position.Set(0.0f, -10.0f);
ground = _world.CreateBody(bd);
PolygonDef sd = new PolygonDef();
sd.SetAsBox(50.0f, 10.0f);
ground.CreateShape(sd);
}
{
CircleDef circle1 = new CircleDef();
circle1.Radius = 1.0f;
circle1.Density = 5.0f;
CircleDef circle2 = new CircleDef();
circle2.Radius = 2.0f;
circle2.Density = 5.0f;
PolygonDef box = new PolygonDef();
box.SetAsBox(0.5f, 5.0f);
box.Density = 5.0f;
BodyDef bd1 = new BodyDef();
bd1.Position.Set(-3.0f, 12.0f);
Body body1 = _world.CreateBody(bd1);
body1.CreateShape(circle1);
body1.SetMassFromShapes();
RevoluteJointDef jd1 = new RevoluteJointDef();
jd1.Body1 = ground;
jd1.Body2 = body1;
jd1.LocalAnchor1 = ground.GetLocalPoint(bd1.Position);
jd1.LocalAnchor2 = body1.GetLocalPoint(bd1.Position);
jd1.ReferenceAngle = body1.GetAngle() - ground.GetAngle();
_joint1 = (RevoluteJoint)_world.CreateJoint(jd1);
BodyDef bd2 = new BodyDef();
bd2.Position.Set(0.0f, 12.0f);
Body body2 = _world.CreateBody(bd2);
body2.CreateShape(circle2);
body2.SetMassFromShapes();
RevoluteJointDef jd2 = new RevoluteJointDef();
jd2.Initialize(ground, body2, bd2.Position);
_joint2 = (RevoluteJoint)_world.CreateJoint(jd2);
BodyDef bd3 = new BodyDef();
bd3.Position.Set(2.5f, 12.0f);
Body body3 = _world.CreateBody(bd3);
body3.CreateShape(box);
body3.SetMassFromShapes();
PrismaticJointDef jd3 = new PrismaticJointDef();
jd3.Initialize(ground, body3, bd3.Position, new Vec2(0.0f, 1.0f));
jd3.LowerTranslation = -5.0f;
jd3.UpperTranslation = 5.0f;
jd3.EnableLimit = true;
_joint3 = (PrismaticJoint)_world.CreateJoint(jd3);
GearJointDef jd4 = new GearJointDef();
jd4.Body1 = body1;
jd4.Body2 = body2;
jd4.Joint1 = _joint1;
jd4.Joint2 = _joint2;
jd4.Ratio = circle2.Radius / circle1.Radius;
_joint4 = (GearJoint)_world.CreateJoint(jd4);
GearJointDef jd5 = new GearJointDef();
jd5.Body1 = body2;
jd5.Body2 = body3;
jd5.Joint1 = _joint2;
jd5.Joint2 = _joint3;
jd5.Ratio = -1.0f / circle2.Radius;
_joint5 = (GearJoint)_world.CreateJoint(jd5);
}
}
/// <summary>
/// Creates a new motorcycle and a driver into the given Box2D world.
/// Creates all the parts of the motorcycle and driver and joints them together.
/// </summary>
/// <param name="pBikeSpeed">A pointer to the variable that describes the speed of the
/// motorcycle</param>
/// <param name="pRotationData">RotationData to provide the information of the rotation
/// of the device</param>
/// <param name="pWorld">The Box2D world where the bike is created into</param>
/// <param name="pCamPos">A pointer to the variable that describes the position of the
/// camera</param>
/// <param name="pContent">The used ContentManager instance</param>
/// <param name="pSpriteBatch">The used SpriteBatch instance</param>
public Bike(float [] pBikeSpeed, RotationData pRotationData, World pWorld, float[] pCamPos,
ContentManager pContent)
{
OffTheBike = false;
camPos = pCamPos;
world = pWorld;
content = pContent;
RotationData = pRotationData;
bikeSpeed = pBikeSpeed;
frontWheel = CreateCirclePart("wheel", frontWheelInitPos, 35.0f, 0, 0.1f, 0.9f, 0.2f);
frontFork = CreateBoxPart("susp_lower_long", frontForkInitPos, 20.53f, 21.33f, 0, 0.8f,
1.0f, 0.2f);
rearWheel = CreateCirclePart("rearWheel", rearWheelInitPos, 32.0f, 0, 0.4f, 1.0f,
0.2f);
rearFork = CreateBoxPart("rearFork", rearForkInitPos, 64.0f, 17.0f, rearForkInitRot,
0.5f, 1.0f, 0.2f);
bikeBody = CreateBikeBody(bikeBodyInitPos, bikeBodyInitRot, 0.5f, 1.0f, 0.2f);
RevoluteJointDef motorDef = new RevoluteJointDef();
motorDef.Initialize(rearWheel, rearFork, rearWheel.GetWorldCenter());
motorDef.maxMotorTorque = 2.0f;
motorDef.enableMotor = true;
motor = (RevoluteJoint)world.CreateJoint(motorDef);
RevoluteJointDef rearForkBodyDef = new RevoluteJointDef();
Vector2 anchor = rearFork.GetWorldCenter();
anchor.X += (32.0f / Level.FACTOR);
anchor.Y += (13.5f / Level.FACTOR);
rearForkBodyDef.Initialize(rearFork, bikeBody, anchor);
rearForkBodyDef.bodyA = rearFork;
rearForkBodyDef.bodyB = bikeBody;
rearForkBodyDef.maxMotorTorque = 300.0f;
world.CreateJoint(rearForkBodyDef);
RevoluteJointDef frontWheelJointDef = new RevoluteJointDef();
frontWheelJointDef.Initialize(frontWheel, frontFork, frontWheel.GetWorldCenter());
frontWheelJointDef.maxMotorTorque = 300.0f;
world.CreateJoint(frontWheelJointDef);
DistanceJointDef frontSuspToBikeDef = new DistanceJointDef();
frontSuspToBikeDef.Initialize(bikeBody, frontFork,
frontFork.GetWorldCenter() + new Vector2(0, 0.4f),
frontFork.GetWorldCenter());
frontSuspToBikeDef.frequencyHz = 4.0f;
frontSuspToBikeDef.dampingRatio = 0.1f;
frontSuspToBikeDef.collideConnected = true;
world.CreateJoint(frontSuspToBikeDef);
DistanceJointDef rearForkDistanceDef = new DistanceJointDef();
rearForkDistanceDef.Initialize(bikeBody, rearFork,
rearFork.GetWorldCenter() + new Vector2(0, 0.4f),
rearFork.GetWorldCenter());
rearForkDistanceDef.frequencyHz = 7.0f;
rearForkDistanceDef.dampingRatio = 0.1f;
rearForkDistanceDef.collideConnected = true;
world.CreateJoint(rearForkDistanceDef);
PrismaticJointDef fSuspBikePrismaticDef = new PrismaticJointDef();
fSuspBikePrismaticDef.Initialize(bikeBody, frontFork, bikeBody.GetWorldCenter(),
new Vector2(0, 1));
fSuspBikePrismaticDef.enableLimit = true;
fSuspBikePrismaticDef.lowerTranslation = -0.2f;
fSuspBikePrismaticDef.upperTranslation = 0.2f;
fSuspBikePrismaticDef.collideConnected = true;
world.CreateJoint(fSuspBikePrismaticDef);
humanBody = CreateBoxPart("human", humanBodyInitPos, 17.0f, 64.0f, 0, 0.1f, 1.0f,
0.2f);
head = CreateBoxPart("head", headInitPos, 38.4f, 29.9f, headInitRot, 0.1f, 1.0f,
0.2f);
hand = CreateBoxPart("hand", handInitPos, 34.13f, 8.53f, handInitRot, 0.1f, 1.0f,
0.2f);
arm = CreateBoxPart("arm", armInitPos, 42.67f, 8.53f, armInitRot, 0.1f, 1.0f, 0.2f);
WeldJointDef headToHumanDef = new WeldJointDef();
headToHumanDef.Initialize(head, humanBody, head.GetWorldCenter());
world.CreateJoint(headToHumanDef);
RevoluteJointDef humanToBikeDef = new RevoluteJointDef();
anchor = humanBody.GetWorldCenter();
anchor.Y += (30.0f / Level.FACTOR);
humanToBikeDef.Initialize(humanBody, bikeBody, anchor);
humanToBikeDef.maxMotorTorque = 300.0f;
humanToBike = world.CreateJoint(humanToBikeDef);
RevoluteJointDef humanToArmDef = new RevoluteJointDef();
anchor = arm.GetWorldPoint(new Vector2(-21.33f / Level.FACTOR, 4.26f / Level.FACTOR));
humanToArmDef.Initialize(humanBody, arm, anchor);
humanToArmDef.maxMotorTorque = 300.0f;
world.CreateJoint(humanToArmDef);
RevoluteJointDef armToHandDef = new RevoluteJointDef();
anchor = arm.GetWorldPoint(new Vector2(21.33f / Level.FACTOR, 4.26f / Level.FACTOR));
armToHandDef.Initialize(arm, hand, anchor);
armToHandDef.maxMotorTorque = 300.0f;
world.CreateJoint(armToHandDef);
RevoluteJointDef handToBikeDef = new RevoluteJointDef();
anchor = hand.GetWorldPoint(new Vector2(17.06f / Level.FACTOR, 4.26f / Level.FACTOR));
handToBikeDef.Initialize(hand, bikeBody, anchor);
handToBikeDef.maxMotorTorque = 300.0f;
handToBike = world.CreateJoint(handToBikeDef);
DistanceJointDef armToBikeDef = new DistanceJointDef();
armToBikeDef.Initialize(hand, bikeBody,
hand.GetWorldPoint(new Vector2(-17.00f / Level.FACTOR,
4.26f / Level.FACTOR)),
bikeBody.GetWorldCenter());
armToBikeDef.length = 40.0f / Level.FACTOR;
armToBikeDef.frequencyHz = 10.0f;
armToBikeDef.dampingRatio = 1.0f;
armToBikeDef.collideConnected = true;
armToBike = world.CreateJoint(armToBikeDef);
}
public SliderCrank1()
{
Body ground;
{
var bd = new BodyDef {
Position = new Vector2(0.0f, 17.0f)
};
ground = World.CreateBody(bd);
}
{
var prevBody = ground;
// Define crank.
{
var shape = new PolygonShape();
shape.SetAsBox(4.0f, 1.0f);
var bd = new BodyDef {
BodyType = BodyType.DynamicBody, Position = new Vector2(-8.0f, 20.0f)
};
var body = World.CreateBody(bd);
body.CreateFixture(shape, 2.0f);
var rjd = new RevoluteJointDef();
rjd.Initialize(prevBody, body, new Vector2(-12.0f, 20.0f));
World.CreateJoint(rjd);
prevBody = body;
}
// Define connecting rod
{
var shape = new PolygonShape();
shape.SetAsBox(8.0f, 1.0f);
var bd = new BodyDef {
BodyType = BodyType.DynamicBody, Position = new Vector2(4.0f, 20.0f)
};
var body = World.CreateBody(bd);
body.CreateFixture(shape, 2.0f);
var rjd = new RevoluteJointDef();
rjd.Initialize(prevBody, body, new Vector2(-4.0f, 20.0f));
World.CreateJoint(rjd);
prevBody = body;
}
// Define piston
{
var shape = new PolygonShape();
shape.SetAsBox(3.0f, 3.0f);
var bd = new BodyDef
{
BodyType = BodyType.DynamicBody, FixedRotation = true,
Position = new Vector2(12.0f, 20.0f)
};
var body = World.CreateBody(bd);
body.CreateFixture(shape, 2.0f);
var rjd = new RevoluteJointDef();
rjd.Initialize(prevBody, body, new Vector2(12.0f, 20.0f));
World.CreateJoint(rjd);
var pjd = new PrismaticJointDef();
pjd.Initialize(ground, body, new Vector2(12.0f, 17.0f), new Vector2(1.0f, 0.0f));
World.CreateJoint(pjd);
}
}
}