public VaryingRestitution()
{
{
b2BodyDef bd = new b2BodyDef();
b2Body ground = m_world.CreateBody(bd);
b2EdgeShape shape = new b2EdgeShape();
shape.Set(new b2Vec2(-40.0f, 0.0f), new b2Vec2(40.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
{
b2CircleShape shape = new b2CircleShape();
shape.Radius = 1.0f;
b2FixtureDef fd = new b2FixtureDef();
fd.shape = shape;
fd.density = 1.0f;
float[] restitution = {0.0f, 0.1f, 0.3f, 0.5f, 0.75f, 0.9f, 1.0f};
for (int i = 0; i < 7; ++i)
{
b2BodyDef bd = new b2BodyDef();
bd.type = b2BodyType.b2_dynamicBody;
bd.position.Set(-10.0f + 3.0f * i, 20.0f);
b2Body body = m_world.CreateBody(bd);
fd.restitution = restitution[i];
body.CreateFixture(fd);
}
}
}
public SphereStack()
{
{
b2BodyDef bd = new b2BodyDef();
b2Body ground = m_world.CreateBody(bd);
b2EdgeShape shape = new b2EdgeShape();
shape.Set(new b2Vec2(-40.0f, 0.0f), new b2Vec2(40.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
{
b2CircleShape shape = new b2CircleShape();
shape.Radius = 1.0f;
for (int i = 0; i < e_count; ++i)
{
b2BodyDef bd = new b2BodyDef();
bd.type = b2BodyType.b2_dynamicBody;
bd.position.Set(0.0f, 4.0f + 3.0f * i);
m_bodies[i] = m_world.CreateBody(bd);
m_bodies[i].CreateFixture(shape, 1.0f);
m_bodies[i].LinearVelocity = new b2Vec2(0.0f, -50.0f);
}
}
}
void CreateNinja() {
spriteImageName = String.Format("{0}_standing", baseImageName);
onGround = false;
// Define the dynamic body.
var bodyDef = new b2BodyDef();
bodyDef.type = b2BodyType.b2_staticBody; //or you could use b2DynamicBody to start the ninja as dynamic
bodyDef.position.Set(initialLocation.X/Constants.PTM_RATIO, initialLocation.Y/Constants.PTM_RATIO);
var shape = new b2CircleShape();
var radiusInMeters = (40 / Constants.PTM_RATIO) * 0.5f; //increase or decrease 40 for a different circle size definition
shape.Radius = radiusInMeters;
// Define the dynamic body fixture.
var fixtureDef = new b2FixtureDef();
fixtureDef.shape = shape;
fixtureDef.density = 1.0f;
fixtureDef.friction = 1.0f;
fixtureDef.restitution = 0.1f;
CreateBodyWithSpriteAndFixture(theWorld, bodyDef, fixtureDef, spriteImageName);
}
public override void Keyboard(char key)
{
switch (key)
{
case 'c':
if (m_fixture2 == null)
{
b2CircleShape shape = new b2CircleShape();
shape.Radius = 3.0f;
shape.Position = new b2Vec2(0.5f, -4.0f);
m_fixture2 = m_body.CreateFixture(shape, 10.0f);
m_body.SetAwake(true);
}
break;
case 'd':
if (m_fixture2 != null)
{
m_body.DestroyFixture(m_fixture2);
m_fixture2 = null;
m_body.SetAwake(true);
}
break;
case 's':
if (m_fixture2 != null)
{
m_sensor = !m_sensor;
m_fixture2.IsSensor = m_sensor;
}
break;
}
}
override public b2Shape Copy()
{
b2Shape s = new b2CircleShape();
s.Set(this);
return(s);
}
public override void Keyboard(char key)
{
switch (key)
{
case ',':
if (m_bullet != null)
{
m_world.DestroyBody(m_bullet);
m_bullet = null;
}
{
b2CircleShape shape = new b2CircleShape();
shape.Radius = 0.25f;
b2FixtureDef fd = new b2FixtureDef();
fd.shape = shape;
fd.density = 20.0f;
fd.restitution = 0.05f;
b2BodyDef bd = new b2BodyDef();
bd.type = b2BodyType.b2_dynamicBody;
bd.bullet = true;
bd.position.Set(-31.0f, 5.0f);
m_bullet = m_world.CreateBody(bd);
m_bullet.CreateFixture(fd);
m_bullet.LinearVelocity = new b2Vec2(400.0f, 0.0f);
}
break;
}
}
override public void Set(b2Shape other)
{
base.Set(other);
if (other is b2CircleShape)
{
b2CircleShape other2 = other as b2CircleShape;
m_p.SetV(other2.m_p);
}
}
public ContinuousTest()
{
{
b2BodyDef bd = new b2BodyDef();
bd.position.Set(0.0f, 0.0f);
b2Body body = m_world.CreateBody(bd);
b2EdgeShape edge = new b2EdgeShape();
edge.Set(new b2Vec2(-10.0f, 0.0f), new b2Vec2(10.0f, 0.0f));
body.CreateFixture(edge, 0.0f);
b2PolygonShape shape = new b2PolygonShape();
shape.SetAsBox(0.2f, 1.0f, new b2Vec2(0.5f, 1.0f), 0.0f);
body.CreateFixture(shape, 0.0f);
}
#if true
{
b2BodyDef bd = new b2BodyDef();
bd.type = b2BodyType.b2_dynamicBody;
bd.position.Set(0.0f, 20.0f);
//bd.angle = 0.1f;
b2PolygonShape shape = new b2PolygonShape();
shape.SetAsBox(2.0f, 0.1f);
m_body = m_world.CreateBody(bd);
m_body.CreateFixture(shape, 1.0f);
m_angularVelocity = Rand.RandomFloat(-50.0f, 50.0f);
//m_angularVelocity = 46.661274f;
m_body.LinearVelocity = new b2Vec2(0.0f, -100.0f);
m_body.AngularVelocity = m_angularVelocity;
}
#else
{
b2BodyDef bd = new b2BodyDef();
bd.type = b2BodyType.b2_dynamicBody;
bd.position.Set(0.0f, 2.0f);
b2Body body = m_world.CreateBody(bd);
b2CircleShape shape = new b2CircleShape();
shape.Position = b2Vec2.Zero;
shape.Radius = 0.5f;
body.CreateFixture(shape, 1.0f);
bd.bullet = true;
bd.position.Set(0.0f, 10.0f);
body = m_world.CreateBody(bd);
body.CreateFixture(shape, 1.0f);
body.LinearVelocity = new b2Vec2(0.0f, -100.0f);
}
#endif
}
public Pulleys()
{
float y = 16.0f;
float L = 12.0f;
float a = 1.0f;
float b = 2.0f;
b2Body ground = null;
{
b2BodyDef bd = new b2BodyDef();
ground = m_world.CreateBody(bd);
b2EdgeShape edge = new b2EdgeShape();
edge.Set(new b2Vec2(-40.0f, 0.0f), new b2Vec2(40.0f, 0.0f));
//ground->CreateFixture(&shape, 0.0f);
b2CircleShape circle = new b2CircleShape();
circle.Radius = 2.0f;
circle.Position = new b2Vec2(-10.0f, y + b + L);
ground.CreateFixture(circle, 0.0f);
circle.Position = new b2Vec2(10.0f, y + b + L);
ground.CreateFixture(circle, 0.0f);
}
{
b2PolygonShape shape = new b2PolygonShape();
shape.SetAsBox(a, b);
b2BodyDef bd = new b2BodyDef();
bd.type = b2BodyType.b2_dynamicBody;
//bd.fixedRotation = true;
bd.position.Set(-10.0f, y);
b2Body body1 = m_world.CreateBody(bd);
body1.CreateFixture(shape, 5.0f);
bd.position.Set(10.0f, y);
b2Body body2 = m_world.CreateBody(bd);
body2.CreateFixture(shape, 5.0f);
b2PulleyJointDef pulleyDef = new b2PulleyJointDef();
b2Vec2 anchor1 = new b2Vec2(-10.0f, y + b);
b2Vec2 anchor2 = new b2Vec2(10.0f, y + b);
b2Vec2 groundAnchor1 = new b2Vec2(-10.0f, y + b + L);
b2Vec2 groundAnchor2 = new b2Vec2(10.0f, y + b + L);
pulleyDef.Initialize(body1, body2, groundAnchor1, groundAnchor2, anchor1, anchor2, 1.5f);
m_joint1 = (b2PulleyJoint) m_world.CreateJoint(pulleyDef);
}
}
public SensorTest()
{
{
b2BodyDef bd = new b2BodyDef();
b2Body ground = m_world.CreateBody(bd);
{
b2EdgeShape shape = new b2EdgeShape();
shape.Set(new b2Vec2(-40.0f, 0.0f), new b2Vec2(40.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
#if false
{
b2FixtureDef sd = new b2FixtureDef();
sd.SetAsBox(10.0f, 2.0f, new b2Vec2(0.0f, 20.0f), 0.0f);
sd.isSensor = true;
m_sensor = ground.CreateFixture(sd);
}
#else
{
b2CircleShape shape = new b2CircleShape();
shape.Radius = 5.0f;
shape.Position = new b2Vec2(0.0f, 10.0f);
b2FixtureDef fd = new b2FixtureDef();
fd.shape = shape;
fd.isSensor = true;
m_sensor = ground.CreateFixture(fd);
}
#endif
}
{
b2CircleShape shape = new b2CircleShape();
shape.Radius = 1.0f;
for (int i = 0; i < e_count; ++i)
{
b2BodyDef bd = new b2BodyDef();
bd.type = b2BodyType.b2_dynamicBody;
bd.position.Set(-10.0f + 3.0f * i, 20.0f);
bd.userData = i; // m_touching[i];
m_touching[i] = false;
m_bodies[i] = m_world.CreateBody(bd);
m_bodies[i].CreateFixture(shape, 1.0f);
}
}
}
public Confined()
{
{
b2BodyDef bd = new b2BodyDef();
b2Body ground = m_world.CreateBody(bd);
b2EdgeShape shape = new b2EdgeShape();
// Floor
shape.Set(new b2Vec2(-10.0f, 0.0f), new b2Vec2(10.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
// Left wall
shape.Set(new b2Vec2(-10.0f, 0.0f), new b2Vec2(-10.0f, 20.0f));
ground.CreateFixture(shape, 0.0f);
// Right wall
shape.Set(new b2Vec2(10.0f, 0.0f), new b2Vec2(10.0f, 20.0f));
ground.CreateFixture(shape, 0.0f);
// Roof
shape.Set(new b2Vec2(-10.0f, 20.0f), new b2Vec2(10.0f, 20.0f));
ground.CreateFixture(shape, 0.0f);
}
float radius = 0.5f;
b2CircleShape shape1 = new b2CircleShape();
shape1.Position = b2Vec2.Zero;
shape1.Radius = radius;
b2FixtureDef fd = new b2FixtureDef();
fd.shape = shape1;
fd.density = 1.0f;
fd.friction = 0.1f;
for (int j = 0; j < e_columnCount; ++j)
{
for (int i = 0; i < e_rowCount; ++i)
{
b2BodyDef bd = new b2BodyDef();
bd.type = b2BodyType.b2_dynamicBody;
bd.position.Set(-10.0f + (2.1f * j + 1.0f + 0.01f * i) * radius, (2.0f * i + 1.0f) * radius);
b2Body body = m_world.CreateBody(bd);
body.CreateFixture(fd);
}
}
m_world.Gravity = new b2Vec2(0.0f, 0.0f);
}
public AddPair()
{
m_world.Gravity = new b2Vec2(0.0f, 0.0f);
{
b2CircleShape shape = new b2CircleShape();
shape.Position = b2Vec2.Zero;
shape.Radius = 0.1f;
float minX = -6.0f;
float maxX = 0.0f;
float minY = 4.0f;
float maxY = 6.0f;
for (int i = 0; i < 400; ++i)
{
b2BodyDef bd = new b2BodyDef();
bd.type = b2BodyType.b2_dynamicBody;
bd.position = new b2Vec2(Rand.RandomFloat(minX, maxX), Rand.RandomFloat(minY, maxY));
b2Body body = m_world.CreateBody(bd);
body.CreateFixture(shape, 0.01f);
}
}
{
b2Shape shape = null;
if (_DoCircle)
{
shape = new b2CircleShape();
((b2CircleShape)shape).Radius = 1.5f;
}
else
{
shape = new b2PolygonShape();
((b2PolygonShape)shape).SetAsBox(1.6f, 1.6f);
}
b2BodyDef bd = new b2BodyDef();
bd.type = b2BodyType.b2_dynamicBody;
bd.position = new b2Vec2(-40.0f, 5.0f);
bd.bullet = true;
b2Body body = m_world.CreateBody(bd);
body.CreateFixture(shape, 1.0f);
body.LinearVelocity = new b2Vec2(150.0f, 0.0f);
}
}
public OneSidedPlatform()
{
// Ground
{
b2BodyDef bd = new b2BodyDef();
b2Body ground = m_world.CreateBody(bd);
b2EdgeShape shape = new b2EdgeShape();
shape.Set(new b2Vec2(-20.0f, 0.0f), new b2Vec2(20.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
// Platform
{
b2BodyDef bd = new b2BodyDef();
bd.position.Set(0.0f, 10.0f);
b2Body body = m_world.CreateBody(bd);
b2PolygonShape shape = new b2PolygonShape();
shape.SetAsBox(3.0f, 0.5f);
m_platform = body.CreateFixture(shape, 0.0f);
m_bottom = 10.0f - 0.5f;
m_top = 10.0f + 0.5f;
}
// Actor
{
b2BodyDef bd = new b2BodyDef();
bd.type = b2BodyType.b2_dynamicBody;
bd.position.Set(0.0f, 12.0f);
b2Body body = m_world.CreateBody(bd);
m_radius = 0.5f;
b2CircleShape shape = new b2CircleShape();
shape.Radius = m_radius;
m_character = body.CreateFixture(shape, 20.0f);
body.LinearVelocity = new b2Vec2(0.0f, -50.0f);
m_state = State.e_unknown;
}
}
public CircleBenchmarkTest()
{
b2BodyDef bd = new b2BodyDef();
b2Body ground = m_world.CreateBody(bd);
// Floor
b2EdgeShape shape = new b2EdgeShape();
shape.Set(new b2Vec2(-40.0f, 0.0f), new b2Vec2(40.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
// Left wall
shape = new b2EdgeShape();
shape.Set(new b2Vec2(-40.0f, 0.0f), new b2Vec2(-40.0f, 45.0f));
ground.CreateFixture(shape, 0.0f);
// Right wall
shape = new b2EdgeShape();
shape.Set(new b2Vec2(40.0f, 0.0f), new b2Vec2(40.0f, 45.0f));
ground.CreateFixture(shape, 0.0f);
// Roof
shape = new b2EdgeShape();
shape.Set(new b2Vec2(-40.0f, 45.0f), new b2Vec2(40.0f, 45.0f));
ground.CreateFixture(shape, 0.0f);
var sphere = new b2CircleShape();
sphere.Radius = 1.0f;
for (int i = 0; i < XCount; i++)
{
for (int j = 0; j < YCount; ++j)
{
bd = new b2BodyDef();
bd.type = b2BodyType.b2_dynamicBody;
bd.position.Set(-38f + 2.1f * i, 2.0f + 2.0f * j);
var body = m_world.CreateBody(bd);
body.CreateFixture(sphere, 1.0f);
}
}
}
public void CreateCircle()
{
float radius = 2.0f;
b2CircleShape shape = new b2CircleShape();
shape.Position = b2Vec2.Zero;
shape.Radius = radius;
b2FixtureDef fd = new b2FixtureDef();
fd.shape = shape;
fd.density = 1.0f;
fd.friction = 0.0f;
b2Vec2 p = new b2Vec2(Rand.RandomFloat(), 3.0f + Rand.RandomFloat());
b2BodyDef bd = new b2BodyDef();
bd.type = b2BodyType.b2_dynamicBody;
bd.position = p;
//bd.allowSleep = false;
b2Body body = m_world.CreateBody(bd);
body.CreateFixture(fd);
}
public Dominos()
{
b2Body b1;
{
b2EdgeShape shape = new b2EdgeShape();
shape.Set(new b2Vec2(-40.0f, 0.0f), new b2Vec2(40.0f, 0.0f));
b2BodyDef bd = new b2BodyDef();
b1 = m_world.CreateBody(bd);
b1.CreateFixture(shape, 0.0f);
}
{
b2PolygonShape shape = new b2PolygonShape();
shape.SetAsBox(6.0f, 0.25f);
b2BodyDef bd = new b2BodyDef();
bd.position.Set(-1.5f, 10.0f);
b2Body ground = m_world.CreateBody(bd);
ground.CreateFixture(shape, 0.0f);
}
{
b2PolygonShape shape = new b2PolygonShape();
shape.SetAsBox(0.1f, 1.0f);
b2FixtureDef fd = new b2FixtureDef();
fd.shape = shape;
fd.density = 20.0f;
fd.friction = 0.1f;
for (int i = 0; i < 10; ++i)
{
b2BodyDef bd = new b2BodyDef();
bd.type = b2BodyType.b2_dynamicBody;
bd.position.Set(-6.0f + 1.0f * i, 11.25f);
b2Body body = m_world.CreateBody(bd);
body.CreateFixture(fd);
}
}
{
b2PolygonShape shape = new b2PolygonShape();
shape.SetAsBox(7.0f, 0.25f, b2Vec2.Zero, 0.3f);
b2BodyDef bd = new b2BodyDef();
bd.position.Set(1.0f, 6.0f);
b2Body ground = m_world.CreateBody(bd);
ground.CreateFixture(shape, 0.0f);
}
b2Body b2;
{
b2PolygonShape shape = new b2PolygonShape();
shape.SetAsBox(0.25f, 1.5f);
b2BodyDef bd = new b2BodyDef();
bd.position.Set(-7.0f, 4.0f);
b2 = m_world.CreateBody(bd);
b2.CreateFixture(shape, 0.0f);
}
b2Body b3;
{
b2PolygonShape shape = new b2PolygonShape();
shape.SetAsBox(6.0f, 0.125f);
b2BodyDef bd = new b2BodyDef();
bd.type = b2BodyType.b2_dynamicBody;
bd.position.Set(-0.9f, 1.0f);
bd.angle = -0.15f;
b3 = m_world.CreateBody(bd);
b3.CreateFixture(shape, 10.0f);
}
b2RevoluteJointDef jd = new b2RevoluteJointDef();
b2Vec2 anchor = new b2Vec2();
anchor.Set(-2.0f, 1.0f);
jd.Initialize(b1, b3, anchor);
jd.CollideConnected = true;
m_world.CreateJoint(jd);
b2Body b4;
{
b2PolygonShape shape = new b2PolygonShape();
shape.SetAsBox(0.25f, 0.25f);
b2BodyDef bd = new b2BodyDef();
bd.type = b2BodyType.b2_dynamicBody;
bd.position.Set(-10.0f, 15.0f);
b4 = m_world.CreateBody(bd);
b4.CreateFixture(shape, 10.0f);
}
anchor.Set(-7.0f, 15.0f);
jd.Initialize(b2, b4, anchor);
m_world.CreateJoint(jd);
b2Body b5;
{
b2BodyDef bd = new b2BodyDef();
bd.type = b2BodyType.b2_dynamicBody;
bd.position.Set(6.5f, 3.0f);
b5 = m_world.CreateBody(bd);
b2PolygonShape shape = new b2PolygonShape();
b2FixtureDef fd = new b2FixtureDef();
fd.shape = shape;
fd.density = 10.0f;
fd.friction = 0.1f;
shape.SetAsBox(1.0f, 0.1f, new b2Vec2(0.0f, -0.9f), 0.0f);
b5.CreateFixture(fd);
shape.SetAsBox(0.1f, 1.0f, new b2Vec2(-0.9f, 0.0f), 0.0f);
b5.CreateFixture(fd);
shape.SetAsBox(0.1f, 1.0f, new b2Vec2(0.9f, 0.0f), 0.0f);
b5.CreateFixture(fd);
}
anchor.Set(6.0f, 2.0f);
jd.Initialize(b1, b5, anchor);
m_world.CreateJoint(jd);
b2Body b6;
{
b2PolygonShape shape = new b2PolygonShape();
shape.SetAsBox(1.0f, 0.1f);
b2BodyDef bd = new b2BodyDef();
bd.type = b2BodyType.b2_dynamicBody;
bd.position.Set(6.5f, 4.1f);
b6 = m_world.CreateBody(bd);
b6.CreateFixture(shape, 30.0f);
}
anchor.Set(7.5f, 4.0f);
jd.Initialize(b5, b6, anchor);
m_world.CreateJoint(jd);
b2Body b7;
{
b2PolygonShape shape = new b2PolygonShape();
shape.SetAsBox(0.1f, 1.0f);
b2BodyDef bd = new b2BodyDef();
bd.type = b2BodyType.b2_dynamicBody;
bd.position.Set(7.4f, 1.0f);
b7 = m_world.CreateBody(bd);
b7.CreateFixture(shape, 10.0f);
}
b2DistanceJointDef djd = new b2DistanceJointDef();
djd.BodyA = b3;
djd.BodyB = b7;
djd.localAnchorA.Set(6.0f, 0.0f);
djd.localAnchorB.Set(0.0f, -1.0f);
b2Vec2 d = djd.BodyB.GetWorldPoint(djd.localAnchorB) - djd.BodyA.GetWorldPoint(djd.localAnchorA);
djd.length = d.Length;
m_world.CreateJoint(djd);
{
float radius = 0.2f;
b2CircleShape shape = new b2CircleShape();
shape.Radius = radius;
for (int i = 0; i < 4; ++i)
{
b2BodyDef bd = new b2BodyDef();
bd.type = b2BodyType.b2_dynamicBody;
bd.position.Set(5.9f + 2.0f * radius * i, 2.4f);
b2Body body = m_world.CreateBody(bd);
body.CreateFixture(shape, 10.0f);
}
}
}
/// Compute the collision manifold between a polygon and a circle.
public static void b2CollidePolygonAndCircle(b2Manifold manifold, b2PolygonShape polygonA, ref b2Transform xfA, b2CircleShape circleB, ref b2Transform xfB)
{
manifold.pointCount = 0;
// Compute circle position in the frame of the polygon.
b2Vec2 c;
c.x = (xfB.q.c * circleB.Position.x - xfB.q.s * circleB.Position.y) + xfB.p.x;
c.y = (xfB.q.s * circleB.Position.x + xfB.q.c * circleB.Position.y) + xfB.p.y;
b2Vec2 cLocal;
float px = c.x - xfA.p.x;
float py = c.y - xfA.p.y;
cLocal.x = (xfA.q.c * px + xfA.q.s * py);
cLocal.y = (-xfA.q.s * px + xfA.q.c * py);
// Find the min separating edge.
int normalIndex = 0;
float separation = -b2Settings.b2_maxFloat;
float radius = polygonA.Radius + circleB.Radius;
int vertexCount = polygonA.m_vertexCount;
b2Vec2[] vertices = polygonA.Vertices;
b2Vec2[] normals = polygonA.Normals;
for (int i = 0; i < vertexCount; ++i)
{
b2Vec2 tmp;
tmp.x = cLocal.x - vertices[i].x;
tmp.y = cLocal.y - vertices[i].y;
float s = normals[i].x * tmp.x + normals[i].y * tmp.y; // b2Math.b2Dot(normals[i], cLocal - vertices[i]);
if (s > radius)
{
// Early out.
return;
}
if (s > separation)
{
separation = s;
normalIndex = i;
}
}
// Vertices that subtend the incident face.
int vertIndex1 = normalIndex;
int vertIndex2 = vertIndex1 + 1 < vertexCount ? vertIndex1 + 1 : 0;
b2Vec2 v1 = vertices[vertIndex1];
b2Vec2 v2 = vertices[vertIndex2];
// If the center is inside the polygon ...
if (separation < b2Settings.b2_epsilon)
{
manifold.pointCount = 1;
manifold.type = b2ManifoldType.e_faceA;
manifold.localNormal = normals[normalIndex];
manifold.localPoint.x = 0.5f * (v1.x + v2.x);
manifold.localPoint.y = 0.5f * (v1.y + v2.y);
manifold.points[0].localPoint = circleB.Position;
manifold.points[0].id.key = 0;
return;
}
// Compute barycentric coordinates
float ax = cLocal.x - v1.x;
float ay = cLocal.y - v1.y;
float bx = v2.x - v1.x;
float by = v2.y - v1.y;
float u1 = ax * bx + ay * by;
ax = cLocal.x - v2.x;
ay = cLocal.y - v2.y;
bx = v1.x - v2.x;
by = v1.y - v2.y;
float u2 = ax * bx + ay * by;
if (u1 <= 0.0f)
{
if (b2Math.b2DistanceSquared(ref cLocal, ref v1) > radius * radius)
{
return;
}
manifold.pointCount = 1;
manifold.type = b2ManifoldType.e_faceA;
manifold.localNormal = cLocal - v1;
manifold.localNormal.Normalize();
manifold.localPoint = v1;
manifold.points[0].localPoint = circleB.Position;
manifold.points[0].id.key = 0;
}
else if (u2 <= 0.0f)
{
if (b2Math.b2DistanceSquared(ref cLocal, ref v2) > radius * radius)
{
return;
}
manifold.pointCount = 1;
manifold.type = b2ManifoldType.e_faceA;
manifold.localNormal.x = cLocal.x - v2.x;
manifold.localNormal.y = cLocal.y - v2.y;
manifold.localNormal.Normalize();
manifold.localPoint = v2;
manifold.points[0].localPoint = circleB.Position;
manifold.points[0].id.key = 0;
}
else
{
b2Vec2 faceCenter;
faceCenter.x = 0.5f * (v1.x + v2.x);
faceCenter.y = 0.5f * (v1.y + v2.y);
b2Vec2 a;
a.x = cLocal.x - faceCenter.x;
a.y = cLocal.y - faceCenter.y;
separation = b2Math.b2Dot(ref a, ref normals[vertIndex1]);
if (separation > radius)
{
return;
}
manifold.pointCount = 1;
manifold.type = b2ManifoldType.e_faceA;
manifold.localNormal = normals[vertIndex1];
manifold.localPoint = faceCenter;
manifold.points[0].localPoint = circleB.Position;
manifold.points[0].id.key = 0;
}
}
void CreateEnemy()
{
// Define the dynamic body.
var bodyDef = b2BodyDef.Create();
bodyDef.type = b2BodyType.b2_dynamicBody; //or you could use b2_staticBody
bodyDef.fixedRotation = isRotationFixed;
bodyDef.position.Set(initialLocation.X/Constants.PTM_RATIO, initialLocation.Y/Constants.PTM_RATIO);
b2PolygonShape shape = new b2PolygonShape();
b2CircleShape shapeCircle = new b2CircleShape();
if (shapeCreationMethod == CreationMethod.DiameterOfImageForCircle) {
var tempSprite = new CCSprite(spriteImageName);
float radiusInMeters = (tempSprite.ContentSize.Width / Constants.PTM_RATIO) * 0.5f;
shapeCircle.Radius = radiusInMeters;
}
else if ( shapeCreationMethod == CreationMethod.ShapeOfSourceImage) {
var tempSprite = new CCSprite(spriteImageName);
var num = 4;
b2Vec2[] vertices = {
new b2Vec2( (tempSprite.ContentSize.Width / -2 ) / Constants.PTM_RATIO, (tempSprite.ContentSize.Height / 2 ) / Constants.PTM_RATIO), //top left corner
new b2Vec2( (tempSprite.ContentSize.Width / -2 ) / Constants.PTM_RATIO, (tempSprite.ContentSize.Height / -2 ) / Constants.PTM_RATIO), //bottom left corner
new b2Vec2( (tempSprite.ContentSize.Width / 2 ) / Constants.PTM_RATIO, (tempSprite.ContentSize.Height / -2 )/ Constants.PTM_RATIO), //bottom right corner
new b2Vec2( (tempSprite.ContentSize.Width / 2 ) / Constants.PTM_RATIO, (tempSprite.ContentSize.Height / 2 ) / Constants.PTM_RATIO) //top right corner
};
shape.Set(vertices, num);
}
else if ( shapeCreationMethod == CreationMethod.ShapeOfSourceImageButSlightlySmaller ) {
var tempSprite = new CCSprite(spriteImageName);
var num = 4;
b2Vec2[] vertices = {
new b2Vec2( (tempSprite.ContentSize.Width / -2 ) *.8f / Constants.PTM_RATIO, (tempSprite.ContentSize.Height / 2 )*.8f / Constants.PTM_RATIO), //top left corner
new b2Vec2( (tempSprite.ContentSize.Width / -2 )*.8f / Constants.PTM_RATIO, (tempSprite.ContentSize.Height / -2 )*.8f / Constants.PTM_RATIO), //bottom left corner
new b2Vec2( (tempSprite.ContentSize.Width / 2 )*.8f / Constants.PTM_RATIO, (tempSprite.ContentSize.Height / -2 )*.8f / Constants.PTM_RATIO), //bottom right corner
new b2Vec2( (tempSprite.ContentSize.Width / 2 )*.8f / Constants.PTM_RATIO, (tempSprite.ContentSize.Height / 2 )*.8f / Constants.PTM_RATIO) //top right corner
};
shape.Set(vertices, num);
}
else if ( shapeCreationMethod == CreationMethod.Triangle) {
var tempSprite = new CCSprite(spriteImageName);
var num = 3;
b2Vec2[] vertices = {
new b2Vec2( (tempSprite.ContentSize.Width / -2 ) / Constants.PTM_RATIO, (tempSprite.ContentSize.Height / -2 ) / Constants.PTM_RATIO), //bottom left corner
new b2Vec2( (tempSprite.ContentSize.Width / 2 ) / Constants.PTM_RATIO, (tempSprite.ContentSize.Height / -2 ) / Constants.PTM_RATIO), //bottom right corner
new b2Vec2( 0.0f / Constants.PTM_RATIO, (tempSprite.ContentSize.Height / 2 )/ Constants.PTM_RATIO) // top center of image
};
shape.Set(vertices, num);
}
else if ( shapeCreationMethod == CreationMethod.TriangleRightAngle) {
var tempSprite = new CCSprite(spriteImageName);
var num = 3;
b2Vec2[] vertices = {
new b2Vec2( (tempSprite.ContentSize.Width / 2 ) / Constants.PTM_RATIO, (tempSprite.ContentSize.Height / 2 ) / Constants.PTM_RATIO), //top right corner
new b2Vec2( (tempSprite.ContentSize.Width / -2 ) / Constants.PTM_RATIO, (tempSprite.ContentSize.Height / 2 ) / Constants.PTM_RATIO), //top left corner
new b2Vec2( (tempSprite.ContentSize.Width / -2 ) / Constants.PTM_RATIO, (tempSprite.ContentSize.Height / -2 )/ Constants.PTM_RATIO) //bottom left corner
};
shape.Set(vertices, num);
}
else if ( shapeCreationMethod == CreationMethod.Trapezoid) {
var tempSprite = new CCSprite(spriteImageName);
var num = 4;
b2Vec2[] vertices = {
new b2Vec2( (tempSprite.ContentSize.Width / 4 ) / Constants.PTM_RATIO, (tempSprite.ContentSize.Height / 2 ) / Constants.PTM_RATIO), //top of image, 3/4's across
new b2Vec2( (tempSprite.ContentSize.Width / -4 ) / Constants.PTM_RATIO, (tempSprite.ContentSize.Height / 2 ) / Constants.PTM_RATIO), //top of image, 1/4's across
new b2Vec2( (tempSprite.ContentSize.Width / -2 ) / Constants.PTM_RATIO, (tempSprite.ContentSize.Height / -2 ) / Constants.PTM_RATIO), //bottom left corner
new b2Vec2( (tempSprite.ContentSize.Width / 2 ) / Constants.PTM_RATIO, (tempSprite.ContentSize.Height / -2 ) / Constants.PTM_RATIO), //bottom right corner
};
shape.Set(vertices, num);
}
else if ( shapeCreationMethod == CreationMethod.Hexagon) {
var tempSprite = new CCSprite(spriteImageName);
var num = 6;
b2Vec2[] vertices = {
new b2Vec2( (tempSprite.ContentSize.Width / -4 ) / Constants.PTM_RATIO, (tempSprite.ContentSize.Height / 2 ) / Constants.PTM_RATIO), //top of image, 1/4 across
new b2Vec2( (tempSprite.ContentSize.Width / -2 ) / Constants.PTM_RATIO, 0.0f / Constants.PTM_RATIO), // left, center
new b2Vec2( (tempSprite.ContentSize.Width / -4 ) / Constants.PTM_RATIO, (tempSprite.ContentSize.Height / -2 ) / Constants.PTM_RATIO), //bottom of image, 1/4 across
new b2Vec2( (tempSprite.ContentSize.Width / 4 ) / Constants.PTM_RATIO, (tempSprite.ContentSize.Height / -2 ) / Constants.PTM_RATIO), //bottom of image, 3/4's across
new b2Vec2( (tempSprite.ContentSize.Width / 2 ) / Constants.PTM_RATIO, 0.0f / Constants.PTM_RATIO), // right, center
new b2Vec2( (tempSprite.ContentSize.Width / 4 ) / Constants.PTM_RATIO, (tempSprite.ContentSize.Height / 2 ) / Constants.PTM_RATIO) //top of image, 3/4's across
};
shape.Set(vertices, num);
}
else if ( shapeCreationMethod == CreationMethod.Pentagon) {
var tempSprite = new CCSprite(spriteImageName);
var num = 5;
b2Vec2[] vertices = {
new b2Vec2( 0 / Constants.PTM_RATIO, (tempSprite.ContentSize.Height / 2 ) / Constants.PTM_RATIO), //top of image, center
new b2Vec2( (tempSprite.ContentSize.Width / -2 ) / Constants.PTM_RATIO, 0.0f / Constants.PTM_RATIO), // left, center
new b2Vec2( (tempSprite.ContentSize.Width / -4 ) / Constants.PTM_RATIO, (tempSprite.ContentSize.Height / -2 ) / Constants.PTM_RATIO), //bottom of image, 1/4 across
new b2Vec2( (tempSprite.ContentSize.Width / 4 ) / Constants.PTM_RATIO, (tempSprite.ContentSize.Height / -2 ) / Constants.PTM_RATIO), //bottom of image, 3/4's across
new b2Vec2( (tempSprite.ContentSize.Width / 2 ) / Constants.PTM_RATIO, 0.0f / Constants.PTM_RATIO), // right, center
};
shape.Set(vertices, num);
}
else if ( shapeCreationMethod == CreationMethod.Octagon) {
var tempSprite = new CCSprite(spriteImageName);
var num = 8;
b2Vec2[] vertices = {
new b2Vec2( (tempSprite.ContentSize.Width / -6 ) / Constants.PTM_RATIO, (tempSprite.ContentSize.Height / 2 ) / Constants.PTM_RATIO), //use the source image octogonShape.png for reference
new b2Vec2( (tempSprite.ContentSize.Width / -2 ) / Constants.PTM_RATIO, (tempSprite.ContentSize.Height / 6 ) / Constants.PTM_RATIO),
new b2Vec2( (tempSprite.ContentSize.Width / -2 ) / Constants.PTM_RATIO, (tempSprite.ContentSize.Height / -6 ) / Constants.PTM_RATIO),
new b2Vec2( (tempSprite.ContentSize.Width / -6 ) / Constants.PTM_RATIO, (tempSprite.ContentSize.Height / -2 ) / Constants.PTM_RATIO),
new b2Vec2( (tempSprite.ContentSize.Width / 6 ) / Constants.PTM_RATIO, (tempSprite.ContentSize.Height / -2 ) / Constants.PTM_RATIO),
new b2Vec2( (tempSprite.ContentSize.Width / 2 ) / Constants.PTM_RATIO, (tempSprite.ContentSize.Height / -6 ) / Constants.PTM_RATIO),
new b2Vec2( (tempSprite.ContentSize.Width / 2 ) / Constants.PTM_RATIO, (tempSprite.ContentSize.Height / 6 ) / Constants.PTM_RATIO),
new b2Vec2( (tempSprite.ContentSize.Width / 6 ) / Constants.PTM_RATIO, (tempSprite.ContentSize.Height / 2 ) / Constants.PTM_RATIO)
};
shape.Set(vertices, num);
}
else if ( shapeCreationMethod == CreationMethod.Parallelogram) {
var tempSprite = new CCSprite(spriteImageName);
var num = 4;
b2Vec2[] vertices = {
new b2Vec2( (tempSprite.ContentSize.Width / -4 ) / Constants.PTM_RATIO, (tempSprite.ContentSize.Height / 2 ) / Constants.PTM_RATIO), //top of image, 1/4 across
new b2Vec2( (tempSprite.ContentSize.Width / -2 ) / Constants.PTM_RATIO, (tempSprite.ContentSize.Height / -2 ) / Constants.PTM_RATIO), //bottom left corner
new b2Vec2( (tempSprite.ContentSize.Width / 4 ) / Constants.PTM_RATIO, (tempSprite.ContentSize.Height / -2 ) / Constants.PTM_RATIO), //bottom of image, 3/4's across
new b2Vec2( (tempSprite.ContentSize.Width / 2 ) / Constants.PTM_RATIO, (tempSprite.ContentSize.Height / 2 ) / Constants.PTM_RATIO) //top right corner
};
shape.Set(vertices, num);
}
else if ( shapeCreationMethod == CreationMethod.CustomCoordinates1) { //use your own custom coordinates from a program like Vertex Helper Pro
var num = 4;
b2Vec2[] vertices = {
new b2Vec2(-64.0f / Constants.PTM_RATIO, 16.0f / Constants.PTM_RATIO),
new b2Vec2(-64.0f / Constants.PTM_RATIO, -16.0f / Constants.PTM_RATIO),
new b2Vec2(64.0f / Constants.PTM_RATIO, -16.0f / Constants.PTM_RATIO),
new b2Vec2(64.0f / Constants.PTM_RATIO, 16.0f / Constants.PTM_RATIO)
};
shape.Set(vertices, num);
}
// Define the dynamic body fixture.
var fixtureDef = b2FixtureDef.Create();
if ( shapeCreationMethod == CreationMethod.DiameterOfImageForCircle) {
fixtureDef.shape = shapeCircle;
} else {
fixtureDef.shape = shape;
}
fixtureDef.density = theDensity;
fixtureDef.friction = 0.3f;
fixtureDef.restitution = 0.1f; //how bouncy basically
CreateBodyWithSpriteAndFixture(theWorld, bodyDef, fixtureDef, spriteImageName);
var blinkInterval = cocos2d.Random.Next(3,8); // range 3 to 8
Schedule(Blink, blinkInterval); //comment this out if you never want to show the blink
}
public Car()
{
m_hz = 4.0f;
m_zeta = 0.7f;
m_speed = 50.0f;
b2Body ground = null;
{
b2BodyDef bd = new b2BodyDef();
ground = m_world.CreateBody(bd);
b2EdgeShape shape = new b2EdgeShape();
b2FixtureDef fd = new b2FixtureDef();
fd.shape = shape;
fd.density = 0.0f;
fd.friction = 0.6f;
shape.Set(new b2Vec2(-20.0f, 0.0f), new b2Vec2(20.0f, 0.0f));
ground.CreateFixture(fd);
float[] hs = {0.25f, 1.0f, 4.0f, 0.0f, 0.0f, -1.0f, -2.0f, -2.0f, -1.25f, 0.0f};
float x = 20.0f, y1 = 0.0f, dx = 5.0f;
for (int i = 0; i < 10; ++i)
{
float y2 = hs[i];
shape.Set(new b2Vec2(x, y1), new b2Vec2(x + dx, y2));
ground.CreateFixture(fd);
y1 = y2;
x += dx;
}
for (int i = 0; i < 10; ++i)
{
float y2 = hs[i];
shape.Set(new b2Vec2(x, y1), new b2Vec2(x + dx, y2));
ground.CreateFixture(fd);
y1 = y2;
x += dx;
}
shape.Set(new b2Vec2(x, 0.0f), new b2Vec2(x + 40.0f, 0.0f));
ground.CreateFixture(fd);
x += 80.0f;
shape.Set(new b2Vec2(x, 0.0f), new b2Vec2(x + 40.0f, 0.0f));
ground.CreateFixture(fd);
x += 40.0f;
shape.Set(new b2Vec2(x, 0.0f), new b2Vec2(x + 10.0f, 5.0f));
ground.CreateFixture(fd);
x += 20.0f;
shape.Set(new b2Vec2(x, 0.0f), new b2Vec2(x + 40.0f, 0.0f));
ground.CreateFixture(fd);
x += 40.0f;
shape.Set(new b2Vec2(x, 0.0f), new b2Vec2(x, 20.0f));
ground.CreateFixture(fd);
}
// Teeter
{
b2BodyDef bd = new b2BodyDef();
bd.position.Set(140.0f, 1.0f);
bd.type = b2BodyType.b2_dynamicBody;
b2Body body = m_world.CreateBody(bd);
b2PolygonShape box = new b2PolygonShape();
box.SetAsBox(10.0f, 0.25f);
body.CreateFixture(box, 1.0f);
b2RevoluteJointDef jd = new b2RevoluteJointDef();
jd.Initialize(ground, body, body.Position);
jd.lowerAngle = -8.0f * b2Settings.b2_pi / 180.0f;
jd.upperAngle = 8.0f * b2Settings.b2_pi / 180.0f;
jd.enableLimit = true;
m_world.CreateJoint(jd);
body.ApplyAngularImpulse(100.0f);
}
// Bridge
{
int N = 20;
b2PolygonShape shape = new b2PolygonShape();
shape.SetAsBox(1.0f, 0.125f);
b2FixtureDef fd = new b2FixtureDef();
fd.shape = shape;
fd.density = 1.0f;
fd.friction = 0.6f;
b2RevoluteJointDef jd = new b2RevoluteJointDef();
b2Body prevBody = ground;
for (int i = 0; i < N; ++i)
{
b2BodyDef bd = new b2BodyDef();
bd.type = b2BodyType.b2_dynamicBody;
bd.position.Set(161.0f + 2.0f * i, -0.125f);
b2Body body = m_world.CreateBody(bd);
body.CreateFixture(fd);
b2Vec2 anchor = new b2Vec2(160.0f + 2.0f * i, -0.125f);
jd.Initialize(prevBody, body, anchor);
m_world.CreateJoint(jd);
prevBody = body;
}
b2Vec2 anchor1 = new b2Vec2(160.0f + 2.0f * N, -0.125f);
jd.Initialize(prevBody, ground, anchor1);
m_world.CreateJoint(jd);
}
// Boxes
{
b2PolygonShape box = new b2PolygonShape();
box.SetAsBox(0.5f, 0.5f);
b2Body body = null;
b2BodyDef bd = new b2BodyDef();
bd.type = b2BodyType.b2_dynamicBody;
bd.position.Set(230.0f, 0.5f);
body = m_world.CreateBody(bd);
body.CreateFixture(box, 0.5f);
bd.position.Set(230.0f, 1.5f);
body = m_world.CreateBody(bd);
body.CreateFixture(box, 0.5f);
bd.position.Set(230.0f, 2.5f);
body = m_world.CreateBody(bd);
body.CreateFixture(box, 0.5f);
bd.position.Set(230.0f, 3.5f);
body = m_world.CreateBody(bd);
body.CreateFixture(box, 0.5f);
bd.position.Set(230.0f, 4.5f);
body = m_world.CreateBody(bd);
body.CreateFixture(box, 0.5f);
}
// Car
{
b2PolygonShape chassis = new b2PolygonShape();
b2Vec2[] vertices = new b2Vec2[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);
b2CircleShape circle = new b2CircleShape();
circle.Radius = 0.4f;
b2BodyDef bd = new b2BodyDef();
bd.type = b2BodyType.b2_dynamicBody;
bd.position.Set(0.0f, 1.0f);
m_car = m_world.CreateBody(bd);
m_car.CreateFixture(chassis, 1.0f);
b2FixtureDef fd = new b2FixtureDef();
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);
b2WheelJointDef jd = new b2WheelJointDef();
b2Vec2 axis = new b2Vec2(0.0f, 1.0f);
jd.Initialize(m_car, m_wheel1, m_wheel1.Position, axis);
jd.motorSpeed = 0.0f;
jd.maxMotorTorque = 20.0f;
jd.enableMotor = true;
jd.frequencyHz = m_hz;
jd.dampingRatio = m_zeta;
m_spring1 = (b2WheelJoint) m_world.CreateJoint(jd);
jd.Initialize(m_car, m_wheel2, m_wheel2.Position, axis);
jd.motorSpeed = 0.0f;
jd.maxMotorTorque = 10.0f;
jd.enableMotor = false;
jd.frequencyHz = m_hz;
jd.dampingRatio = m_zeta;
m_spring2 = (b2WheelJoint) m_world.CreateJoint(jd);
}
}
public Pinball()
{
// Ground body
b2Body ground;
{
b2BodyDef bd = new b2BodyDef();
ground = m_world.CreateBody(bd);
b2Vec2[] vs = new b2Vec2[5];
vs[0].Set(0.0f, -2.0f);
vs[1].Set(8.0f, 6.0f);
vs[2].Set(8.0f, 20.0f);
vs[3].Set(-8.0f, 20.0f);
vs[4].Set(-8.0f, 6.0f);
b2ChainShape loop = new b2ChainShape();
loop.CreateLoop(vs, 5);
b2FixtureDef fd = new b2FixtureDef();
fd.shape = loop;
fd.density = 0.0f;
ground.CreateFixture(fd);
}
// Flippers
{
b2Vec2 p1 = new b2Vec2(-2.0f, 0.0f);
b2Vec2 p2 = new b2Vec2(2.0f, 0.0f);
b2BodyDef bd = new b2BodyDef();
bd.type = b2BodyType.b2_dynamicBody;
bd.position = p1;
b2Body leftFlipper = m_world.CreateBody(bd);
bd.position = p2;
b2Body rightFlipper = m_world.CreateBody(bd);
b2PolygonShape box = new b2PolygonShape();
box.SetAsBox(1.75f, 0.1f);
b2FixtureDef fd = new b2FixtureDef();
fd.shape = box;
fd.density = 1.0f;
leftFlipper.CreateFixture(fd);
rightFlipper.CreateFixture(fd);
b2RevoluteJointDef jd = new b2RevoluteJointDef();
jd.BodyA = ground;
jd.localAnchorB.SetZero();
jd.enableMotor = true;
jd.maxMotorTorque = 1000.0f;
jd.enableLimit = true;
jd.motorSpeed = 0.0f;
jd.localAnchorA = p1;
jd.BodyB = leftFlipper;
jd.lowerAngle = -30.0f * b2Settings.b2_pi / 180.0f;
jd.upperAngle = 5.0f * b2Settings.b2_pi / 180.0f;
m_leftJoint = (b2RevoluteJoint) m_world.CreateJoint(jd);
jd.motorSpeed = 0.0f;
jd.localAnchorA = p2;
jd.BodyB = rightFlipper;
jd.lowerAngle = -5.0f * b2Settings.b2_pi / 180.0f;
jd.upperAngle = 30.0f * b2Settings.b2_pi / 180.0f;
m_rightJoint = (b2RevoluteJoint) m_world.CreateJoint(jd);
}
// Circle character
{
b2BodyDef bd = new b2BodyDef();
bd.position.Set(1.0f, 15.0f);
bd.type = b2BodyType.b2_dynamicBody;
bd.bullet = true;
m_ball = m_world.CreateBody(bd);
b2CircleShape shape = new b2CircleShape();
shape.Radius = 0.2f;
b2FixtureDef fd = new b2FixtureDef();
fd.shape = shape;
fd.density = 1.0f;
m_ball.CreateFixture(fd);
}
m_button = false;
}
public CompoundShapes()
{
{
b2BodyDef bd = new b2BodyDef();
bd.position.Set(0.0f, 0.0f);
b2Body body = m_world.CreateBody(bd);
b2EdgeShape shape = new b2EdgeShape();
shape.Set(new b2Vec2(50.0f, 0.0f), new b2Vec2(-50.0f, 0.0f));
body.CreateFixture(shape, 0.0f);
}
{
b2CircleShape circle1 = new b2CircleShape();
circle1.Radius = 0.5f;
circle1.Position = new b2Vec2(-0.5f, 0.5f);
b2CircleShape circle2 = new b2CircleShape();
circle2.Radius = 0.5f;
circle2.Position = new b2Vec2(0.5f, 0.5f);
for (int i = 0; i < 10; ++i)
{
float x = Rand.RandomFloat(-0.1f, 0.1f);
b2BodyDef bd = new b2BodyDef();
bd.type = b2BodyType.b2_dynamicBody;
bd.position.Set(x + 5.0f, 1.05f + 2.5f * i);
bd.angle = Rand.RandomFloat(-b2Settings.b2_pi, b2Settings.b2_pi);
b2Body body = m_world.CreateBody(bd);
body.CreateFixture(circle1, 2.0f);
body.CreateFixture(circle2, 0.0f);
}
}
{
b2PolygonShape polygon1 = new b2PolygonShape();
polygon1.SetAsBox(0.25f, 0.5f);
b2PolygonShape polygon2 = new b2PolygonShape();
polygon2.SetAsBox(0.25f, 0.5f, new b2Vec2(0.0f, -0.5f), 0.5f * b2Settings.b2_pi);
for (int i = 0; i < 10; ++i)
{
float x = Rand.RandomFloat(-0.1f, 0.1f);
b2BodyDef bd = new b2BodyDef();
bd.type = b2BodyType.b2_dynamicBody;
bd.position.Set(x - 5.0f, 1.05f + 2.5f * i);
bd.angle = Rand.RandomFloat(-b2Settings.b2_pi, b2Settings.b2_pi);
b2Body body = m_world.CreateBody(bd);
body.CreateFixture(polygon1, 2.0f);
body.CreateFixture(polygon2, 2.0f);
}
}
{
b2Transform xf1 = new b2Transform();
xf1.q.Set(0.3524f * b2Settings.b2_pi);
xf1.p = xf1.q.GetXAxis();
b2Vec2[] vertices = new b2Vec2[3];
b2PolygonShape triangle1 = new b2PolygonShape();
vertices[0] = b2Math.b2Mul(xf1, new b2Vec2(-1.0f, 0.0f));
vertices[1] = b2Math.b2Mul(xf1, new b2Vec2(1.0f, 0.0f));
vertices[2] = b2Math.b2Mul(xf1, new b2Vec2(0.0f, 0.5f));
triangle1.Set(vertices, 3);
b2Transform xf2 = new b2Transform();
xf2.q.Set(-0.3524f * b2Settings.b2_pi);
xf2.p = -xf2.q.GetXAxis();
b2PolygonShape triangle2 = new b2PolygonShape();
vertices[0] = b2Math.b2Mul(xf2, new b2Vec2(-1.0f, 0.0f));
vertices[1] = b2Math.b2Mul(xf2, new b2Vec2(1.0f, 0.0f));
vertices[2] = b2Math.b2Mul(xf2, new b2Vec2(0.0f, 0.5f));
triangle2.Set(vertices, 3);
for (int i = 0; i < 10; ++i)
{
float x = Rand.RandomFloat(-0.1f, 0.1f);
b2BodyDef bd = new b2BodyDef();
bd.type = b2BodyType.b2_dynamicBody;
bd.position.Set(x, 2.05f + 2.5f * i);
bd.angle = 0.0f;
b2Body body = m_world.CreateBody(bd);
body.CreateFixture(triangle1, 2.0f);
body.CreateFixture(triangle2, 2.0f);
}
}
{
b2PolygonShape bottom = new b2PolygonShape();
bottom.SetAsBox(1.5f, 0.15f);
b2PolygonShape left = new b2PolygonShape();
left.SetAsBox(0.15f, 2.7f, new b2Vec2(-1.45f, 2.35f), 0.2f);
b2PolygonShape right = new b2PolygonShape();
right.SetAsBox(0.15f, 2.7f, new b2Vec2(1.45f, 2.35f), -0.2f);
b2BodyDef bd = new b2BodyDef();
bd.type = b2BodyType.b2_dynamicBody;
bd.position.Set(0.0f, 2.0f);
b2Body body = m_world.CreateBody(bd);
body.CreateFixture(bottom, 4.0f);
body.CreateFixture(left, 4.0f);
body.CreateFixture(right, 4.0f);
}
}
public void LaunchBomb(b2Vec2 position, b2Vec2 velocity)
{
if (m_bomb != null)
{
m_world.DestroyBody(m_bomb);
m_bomb = null;
}
b2BodyDef bd = new b2BodyDef();
bd.type = b2BodyType.b2_dynamicBody;
bd.position = position;
bd.bullet = true;
m_bomb = m_world.CreateBody(bd);
m_bomb.LinearVelocity = velocity;
b2CircleShape circle = new b2CircleShape();
circle.Radius = 0.3f;
b2FixtureDef fd = new b2FixtureDef();
fd.shape = circle;
fd.density = 20.0f;
fd.restitution = 0.0f;
b2Vec2 minV = position - new b2Vec2(0.3f, 0.3f);
b2Vec2 maxV = position + new b2Vec2(0.3f, 0.3f);
b2AABB aabb = new b2AABB();
aabb.LowerBound = minV;
aabb.UpperBound = maxV;
m_bomb.CreateFixture(fd);
}
/// Compute the collision manifold between a polygon and a circle.
public static void b2CollidePolygonAndCircle(ref b2Manifold manifold,
b2PolygonShape polygonA, ref b2Transform xfA,
b2CircleShape circleB, ref b2Transform xfB)
{
manifold.pointCount = 0;
// Compute circle position in the frame of the polygon.
b2Vec2 c = b2Math.b2Mul(xfB, circleB.Position);
b2Vec2 cLocal = b2Math.b2MulT(xfA, c);
// Find the min separating edge.
int normalIndex = 0;
float separation = -b2Settings.b2_maxFloat;
float radius = polygonA.Radius + circleB.Radius;
int vertexCount = polygonA.VertexCount;
b2Vec2[] vertices = polygonA.Vertices;
b2Vec2[] normals = polygonA.Normals;
for (int i = 0; i < vertexCount; ++i)
{
float s = b2Math.b2Dot(normals[i], cLocal - vertices[i]);
if (s > radius)
{
// Early out.
return;
}
if (s > separation)
{
separation = s;
normalIndex = i;
}
}
// Vertices that subtend the incident face.
int vertIndex1 = normalIndex;
int vertIndex2 = vertIndex1 + 1 < vertexCount ? vertIndex1 + 1 : 0;
b2Vec2 v1 = vertices[vertIndex1];
b2Vec2 v2 = vertices[vertIndex2];
// If the center is inside the polygon ...
if (separation < b2Settings.b2_epsilon)
{
manifold.pointCount = 1;
manifold.type = b2ManifoldType.e_faceA;
manifold.localNormal = normals[normalIndex];
manifold.localPoint = 0.5f * (v1 + v2);
manifold.points[0].localPoint = circleB.Position;
manifold.points[0].id = b2ContactFeature.Zero;
return;
}
// Compute barycentric coordinates
float u1 = b2Math.b2Dot(cLocal - v1, v2 - v1);
float u2 = b2Math.b2Dot(cLocal - v2, v1 - v2);
if (u1 <= 0.0f)
{
if (b2Math.b2DistanceSquared(cLocal, v1) > radius * radius)
{
return;
}
manifold.pointCount = 1;
manifold.type = b2ManifoldType.e_faceA;
manifold.localNormal = cLocal - v1;
manifold.localNormal.Normalize();
manifold.localPoint = v1;
manifold.points[0].localPoint = circleB.Position;
manifold.points[0].id = b2ContactFeature.Zero;
}
else if (u2 <= 0.0f)
{
if (b2Math.b2DistanceSquared(cLocal, v2) > radius * radius)
{
return;
}
manifold.pointCount = 1;
manifold.type = b2ManifoldType.e_faceA;
manifold.localNormal = cLocal - v2;
manifold.localNormal.Normalize();
manifold.localPoint = v2;
manifold.points[0].localPoint = circleB.Position;
manifold.points[0].id = b2ContactFeature.Zero;
}
else
{
b2Vec2 faceCenter = 0.5f * (v1 + v2);
separation = b2Math.b2Dot(cLocal - faceCenter, normals[vertIndex1]);
if (separation > radius)
{
return;
}
manifold.pointCount = 1;
manifold.type = b2ManifoldType.e_faceA;
manifold.localNormal = normals[vertIndex1];
manifold.localPoint = faceCenter;
manifold.points[0].localPoint = circleB.Position;
manifold.points[0].id = b2ContactFeature.Zero;
}
}
public b2CircleShape(b2CircleShape copy)
: base((b2Shape)copy)
{
m_p = copy.m_p;
}
public virtual b2Shape Clone()
{
b2CircleShape clone = new b2CircleShape(this);
return(clone);
}
void AddBall()
{
if (ballsBatch.ChildrenCount < MAX_NUM_BALLS) {
int idx = (CCRandom.Float_0_1 () > .5 ? 0 : 1);
int idy = (CCRandom.Float_0_1 () > .5 ? 0 : 1);
var sprite = new CCPhysicsSprite (ballTexture, new CCRect (32 * idx, 32 * idy, 32, 32), PTM_RATIO);
ballsBatch.AddChild (sprite);
CCPoint p = GetRandomPosition (sprite.ContentSize);
sprite.Position = new CCPoint (p.X, p.Y);
var def = new b2BodyDef ();
def.position = new b2Vec2 (p.X / PTM_RATIO, p.Y / PTM_RATIO);
def.linearVelocity = new b2Vec2 (0.0f, -1.0f);
def.type = b2BodyType.b2_dynamicBody;
b2Body body = world.CreateBody (def);
var circle = new b2CircleShape ();
circle.Radius = 0.5f;
var fd = new b2FixtureDef ();
fd.shape = circle;
fd.density = 1f;
fd.restitution = 0.85f;
fd.friction = 0f;
body.CreateFixture (fd);
sprite.PhysicsBody = body;
}
}
public Bridge()
{
b2Body ground = null;
{
b2BodyDef bd = new b2BodyDef();
ground = m_world.CreateBody(bd);
b2EdgeShape shape = new b2EdgeShape();
shape.Set(new b2Vec2(-40.0f, 0.0f), new b2Vec2(40.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
{
b2PolygonShape shape = new b2PolygonShape();
shape.SetAsBox(0.5f, 0.125f);
b2FixtureDef fd = new b2FixtureDef();
fd.shape = shape;
fd.density = 20.0f;
fd.friction = 0.2f;
b2RevoluteJointDef jd = new b2RevoluteJointDef();
b2Body prevBody = ground;
for (int i = 0; i < e_count; ++i)
{
b2BodyDef bd = new b2BodyDef();
bd.type = b2BodyType.b2_dynamicBody;
bd.position = new b2Vec2(-14.5f + 1.0f * i, 5.0f);
b2Body body = m_world.CreateBody(bd);
body.CreateFixture(fd);
b2Vec2 anchor = new b2Vec2(-15.0f + 1.0f * i, 5.0f);
jd.Initialize(prevBody, body, anchor);
m_world.CreateJoint(jd);
if (i == (e_count >> 1))
{
m_middle = body;
}
prevBody = body;
}
b2Vec2 anchor1 = new b2Vec2(-15.0f + 1.0f * e_count, 5.0f);
jd.Initialize(prevBody, ground, anchor1);
m_world.CreateJoint(jd);
}
for (int i = 0; i < 2; ++i)
{
b2Vec2[] vertices = new b2Vec2[3];
vertices[0].Set(-0.5f, 0.0f);
vertices[1].Set(0.5f, 0.0f);
vertices[2].Set(0.0f, 1.5f);
b2PolygonShape shape = new b2PolygonShape();
shape.Set(vertices, 3);
b2FixtureDef fd = new b2FixtureDef();
fd.shape = shape;
fd.density = 1.0f;
b2BodyDef bd = new b2BodyDef();
bd.type = b2BodyType.b2_dynamicBody;
bd.position = new b2Vec2(-8.0f + 8.0f * i, 12.0f);
b2Body body = m_world.CreateBody(bd);
body.CreateFixture(fd);
}
for (int i = 0; i < 3; ++i)
{
b2CircleShape shape = new b2CircleShape();
shape.Radius = 0.5f;
b2FixtureDef fd = new b2FixtureDef();
fd.shape = shape;
fd.density = 1.0f;
b2BodyDef bd = new b2BodyDef();
bd.type = b2BodyType.b2_dynamicBody;
bd.position.Set(-6.0f + 6.0f * i, 10.0f);
b2Body body = m_world.CreateBody(bd);
body.CreateFixture(fd);
}
}
void CreateObject()
{
// Define the dynamic body.
var bodyDef = new b2BodyDef();
bodyDef.type = b2BodyType.b2_dynamicBody; //or you could use b2_staticBody
bodyDef.position.Set(initialLocation.X/Constants.PTM_RATIO, initialLocation.Y/Constants.PTM_RATIO);
var shape = new b2PolygonShape();
var shapeCircle = new b2CircleShape();
if (shapeCreationMethod == CreationMethod.DiameterOfImageForCircle) {
var tempSprite = new CCSprite(spriteImageName);
var radiusInMeters = (tempSprite.Texture.ContentSizeInPixels.Width / Constants.PTM_RATIO) * 0.5f;
shapeCircle.Radius = radiusInMeters;
}
else if ( shapeCreationMethod == CreationMethod.ShapeOfSourceImage) {
var tempSprite = new CCSprite(spriteImageName);
var num = 4;
b2Vec2[] vertices = {
new b2Vec2( (tempSprite.Texture.ContentSizeInPixels.Width / -2 ) / Constants.PTM_RATIO, (tempSprite.Texture.ContentSizeInPixels.Height / 2 ) / Constants.PTM_RATIO), //top left corner
new b2Vec2( (tempSprite.Texture.ContentSizeInPixels.Width / -2 ) / Constants.PTM_RATIO, (tempSprite.Texture.ContentSizeInPixels.Height / -2 ) / Constants.PTM_RATIO), //bottom left corner
new b2Vec2( (tempSprite.Texture.ContentSizeInPixels.Width / 2 ) / Constants.PTM_RATIO, (tempSprite.Texture.ContentSizeInPixels.Height / -2 )/ Constants.PTM_RATIO), //bottom right corner
new b2Vec2( (tempSprite.Texture.ContentSizeInPixels.Width / 2 ) / Constants.PTM_RATIO, (tempSprite.Texture.ContentSizeInPixels.Height / 2 ) / Constants.PTM_RATIO) //top right corner
};
shape.Set(vertices, num);
}
else if ( shapeCreationMethod == CreationMethod.Triangle) {
var tempSprite = new CCSprite(spriteImageName);
var num = 3;
b2Vec2[] vertices = {
new b2Vec2((tempSprite.Texture.ContentSizeInPixels.Width / -2 ) / Constants.PTM_RATIO, (tempSprite.Texture.ContentSizeInPixels.Height / -2 ) / Constants.PTM_RATIO), //bottom left corner
new b2Vec2( (tempSprite.Texture.ContentSizeInPixels.Width / 2 ) / Constants.PTM_RATIO, (tempSprite.Texture.ContentSizeInPixels.Height / -2 ) / Constants.PTM_RATIO), //bottom right corner
new b2Vec2( 0.0f / Constants.PTM_RATIO, (tempSprite.Texture.ContentSizeInPixels.Height / 2 )/ Constants.PTM_RATIO) // top center of image
};
shape.Set(vertices, num);
}
else if ( shapeCreationMethod == CreationMethod.TriangleRightAngle) {
var tempSprite = new CCSprite(spriteImageName);
var num = 3;
b2Vec2[] vertices = {
new b2Vec2((tempSprite.Texture.ContentSizeInPixels.Width / 2 ) / Constants.PTM_RATIO, (tempSprite.Texture.ContentSizeInPixels.Height / 2 ) / Constants.PTM_RATIO), //top right corner
new b2Vec2( (tempSprite.Texture.ContentSizeInPixels.Width / -2 ) / Constants.PTM_RATIO, (tempSprite.Texture.ContentSizeInPixels.Height / 2 ) / Constants.PTM_RATIO), //top left corner
new b2Vec2( (tempSprite.Texture.ContentSizeInPixels.Width / -2 ) / Constants.PTM_RATIO, (tempSprite.Texture.ContentSizeInPixels.Height / -2 )/ Constants.PTM_RATIO) //bottom left corner
};
shape.Set(vertices, num);
}
else if ( shapeCreationMethod == CreationMethod.Trapezoid) {
var tempSprite = new CCSprite(spriteImageName);
var num = 4;
b2Vec2[] vertices = {
new b2Vec2((tempSprite.Texture.ContentSizeInPixels.Width / 4 ) / Constants.PTM_RATIO, (tempSprite.Texture.ContentSizeInPixels.Height / 2 ) / Constants.PTM_RATIO), //top of image, 3/4's across
new b2Vec2( (tempSprite.Texture.ContentSizeInPixels.Width / -4 ) / Constants.PTM_RATIO, (tempSprite.Texture.ContentSizeInPixels.Height / 2 ) / Constants.PTM_RATIO), //top of image, 1/4's across
new b2Vec2((tempSprite.Texture.ContentSizeInPixels.Width / -2 ) / Constants.PTM_RATIO, (tempSprite.Texture.ContentSizeInPixels.Height / -2 ) / Constants.PTM_RATIO), //bottom left corner
new b2Vec2( (tempSprite.Texture.ContentSizeInPixels.Width / 2 ) / Constants.PTM_RATIO, (tempSprite.Texture.ContentSizeInPixels.Height / -2 ) / Constants.PTM_RATIO), //bottom right corner
};
shape.Set(vertices, num);
}
else if ( shapeCreationMethod == CreationMethod.Hexagon) {
var tempSprite = new CCSprite(spriteImageName);
var num = 6;
b2Vec2[] vertices = {
new b2Vec2( (tempSprite.Texture.ContentSizeInPixels.Width / -4 ) / Constants.PTM_RATIO, (tempSprite.Texture.ContentSizeInPixels.Height / 2 ) / Constants.PTM_RATIO), //top of image, 1/4 across
new b2Vec2( (tempSprite.Texture.ContentSizeInPixels.Width / -2 ) / Constants.PTM_RATIO, 0.0f / Constants.PTM_RATIO), // left, center
new b2Vec2( (tempSprite.Texture.ContentSizeInPixels.Width / -4 ) / Constants.PTM_RATIO, (tempSprite.Texture.ContentSizeInPixels.Height / -2 ) / Constants.PTM_RATIO), //bottom of image, 1/4 across
new b2Vec2( (tempSprite.Texture.ContentSizeInPixels.Width / 4 ) / Constants.PTM_RATIO, (tempSprite.Texture.ContentSizeInPixels.Height / -2 ) / Constants.PTM_RATIO), //bottom of image, 3/4's across
new b2Vec2( (tempSprite.Texture.ContentSizeInPixels.Width / 2 ) / Constants.PTM_RATIO, 0.0f / Constants.PTM_RATIO), // right, center
new b2Vec2( (tempSprite.Texture.ContentSizeInPixels.Width / 4 ) / Constants.PTM_RATIO, (tempSprite.Texture.ContentSizeInPixels.Height / 2 ) / Constants.PTM_RATIO) //top of image, 3/4's across
};
shape.Set(vertices, num);
}
else if ( shapeCreationMethod == CreationMethod.Pentagon) {
var tempSprite = new CCSprite(spriteImageName);
var num = 5;
b2Vec2[] vertices = {
new b2Vec2( 0 / Constants.PTM_RATIO, (tempSprite.Texture.ContentSizeInPixels.Height / 2 ) / Constants.PTM_RATIO), //top of image, center
new b2Vec2( (tempSprite.Texture.ContentSizeInPixels.Width / -2 ) / Constants.PTM_RATIO, 0.0f / Constants.PTM_RATIO), // left, center
new b2Vec2( (tempSprite.Texture.ContentSizeInPixels.Width / -4 ) / Constants.PTM_RATIO, (tempSprite.Texture.ContentSizeInPixels.Height / -2 ) / Constants.PTM_RATIO), //bottom of image, 1/4 across
new b2Vec2( (tempSprite.Texture.ContentSizeInPixels.Width / 4 ) / Constants.PTM_RATIO, (tempSprite.Texture.ContentSizeInPixels.Height / -2 ) / Constants.PTM_RATIO), //bottom of image, 3/4's across
new b2Vec2( (tempSprite.Texture.ContentSizeInPixels.Width / 2 ) / Constants.PTM_RATIO, 0.0f / Constants.PTM_RATIO), // right, center
};
shape.Set(vertices, num);
}
else if ( shapeCreationMethod == CreationMethod.Octagon) {
var tempSprite = new CCSprite(spriteImageName);
var num = 8;
b2Vec2[] vertices = {
new b2Vec2( (tempSprite.Texture.ContentSizeInPixels.Width / -6 ) / Constants.PTM_RATIO, (tempSprite.Texture.ContentSizeInPixels.Height / 2 ) / Constants.PTM_RATIO), //use the source image octogonShape.png for reference
new b2Vec2( (tempSprite.Texture.ContentSizeInPixels.Width / -2 ) / Constants.PTM_RATIO, (tempSprite.Texture.ContentSizeInPixels.Height / 6 ) / Constants.PTM_RATIO),
new b2Vec2( (tempSprite.Texture.ContentSizeInPixels.Width / -2 ) / Constants.PTM_RATIO, (tempSprite.Texture.ContentSizeInPixels.Height / -6 ) / Constants.PTM_RATIO),
new b2Vec2( (tempSprite.Texture.ContentSizeInPixels.Width / -6 ) / Constants.PTM_RATIO, (tempSprite.Texture.ContentSizeInPixels.Height / -2 ) / Constants.PTM_RATIO),
new b2Vec2( (tempSprite.Texture.ContentSizeInPixels.Width / 6 ) / Constants.PTM_RATIO, (tempSprite.Texture.ContentSizeInPixels.Height / -2 ) / Constants.PTM_RATIO),
new b2Vec2( (tempSprite.Texture.ContentSizeInPixels.Width / 2 ) / Constants.PTM_RATIO, (tempSprite.Texture.ContentSizeInPixels.Height / -6 ) / Constants.PTM_RATIO),
new b2Vec2( (tempSprite.Texture.ContentSizeInPixels.Width / 2 ) / Constants.PTM_RATIO, (tempSprite.Texture.ContentSizeInPixels.Height / 6 ) / Constants.PTM_RATIO),
new b2Vec2( (tempSprite.Texture.ContentSizeInPixels.Width / 6 ) / Constants.PTM_RATIO, (tempSprite.Texture.ContentSizeInPixels.Height / 2 ) / Constants.PTM_RATIO)
};
shape.Set(vertices, num);
}
else if ( shapeCreationMethod == CreationMethod.Parallelogram) {
var tempSprite = new CCSprite(spriteImageName);
var num = 4;
b2Vec2[] vertices = {
new b2Vec2( (tempSprite.Texture.ContentSizeInPixels.Width / -4 ) / Constants.PTM_RATIO, (tempSprite.Texture.ContentSizeInPixels.Height / 2 ) / Constants.PTM_RATIO), //top of image, 1/4 across
new b2Vec2( (tempSprite.Texture.ContentSizeInPixels.Width / -2 ) / Constants.PTM_RATIO, (tempSprite.Texture.ContentSizeInPixels.Height / -2 ) / Constants.PTM_RATIO), //bottom left corner
new b2Vec2( (tempSprite.Texture.ContentSizeInPixels.Width / 4 ) / Constants.PTM_RATIO, (tempSprite.Texture.ContentSizeInPixels.Height / -2 ) / Constants.PTM_RATIO), //bottom of image, 3/4's across
new b2Vec2( (tempSprite.Texture.ContentSizeInPixels.Width / 2 ) / Constants.PTM_RATIO, (tempSprite.Texture.ContentSizeInPixels.Height / 2 ) / Constants.PTM_RATIO) //top right corner
};
shape.Set(vertices, num);
}
else if ( shapeCreationMethod == CreationMethod.CustomCoordinates1) { //use your own custom coordinates from a program like Vertex Helper Pro
var num = 4;
b2Vec2[] vertices = {
new b2Vec2(-64.0f / Constants.PTM_RATIO, 16.0f / Constants.PTM_RATIO),
new b2Vec2(-64.0f / Constants.PTM_RATIO, -16.0f / Constants.PTM_RATIO),
new b2Vec2(64.0f / Constants.PTM_RATIO, -16.0f / Constants.PTM_RATIO),
new b2Vec2(64.0f / Constants.PTM_RATIO, 16.0f / Constants.PTM_RATIO)
};
shape.Set(vertices, num);
}
// Define the dynamic body fixture.
var fixtureDef = new b2FixtureDef();
if ( shapeCreationMethod == CreationMethod.DiameterOfImageForCircle) {
fixtureDef.shape = shapeCircle;
} else {
fixtureDef.shape = shape;
}
fixtureDef.density = theDensity;
fixtureDef.friction = 0.3f;
fixtureDef.restitution = 0.1f;
CreateBodyWithSpriteAndFixture(theWorld, bodyDef, fixtureDef, spriteImageName);
if ( angle != 0 ) {
int currentAngle = (int)body.Angle ;
b2Vec2 locationInMeters = body.Position;
body.SetTransform( locationInMeters , CCMacros.CCDegreesToRadians( currentAngle + angle ) );
}
if (IsStatic) {
MakeBodyStatic();
}
}
/// Compute the collision manifold between two circles.
public static void b2CollideCircles(b2Manifold manifold, b2CircleShape circleA, ref b2Transform xfA, b2CircleShape circleB, ref b2Transform xfB)
{
manifold.pointCount = 0;
float pAx = (xfA.q.c * circleA.Position.x - xfA.q.s * circleA.Position.y) + xfA.p.x;
float pAy = (xfA.q.s * circleA.Position.x + xfA.q.c * circleA.Position.y) + xfA.p.y;
float pBx = (xfB.q.c * circleB.Position.x - xfB.q.s * circleB.Position.y) + xfB.p.x;
float pBy = (xfB.q.s * circleB.Position.x + xfB.q.c * circleB.Position.y) + xfB.p.y;
float dx = pBx - pAx;
float dy = pBy - pAy;
float distSqr = dx * dx + dy * dy;
float rA = circleA.Radius, rB = circleB.Radius;
float radius = rA + rB;
if (distSqr > radius * radius)
{
return;
}
manifold.type = b2ManifoldType.e_circles;
manifold.localPoint = circleA.Position;
manifold.localNormal = b2Vec2.Zero;
manifold.pointCount = 1;
manifold.points[0].localPoint = circleB.Position;
manifold.points[0].id.key = 0;
}
public b2CircleShape(b2CircleShape copy)
: base(copy)
{
Position = copy.Position;
}
/// Compute the collision manifold between two circles.
public static void b2CollideCircles(ref b2Manifold manifold,
b2CircleShape circleA, ref b2Transform xfA,
b2CircleShape circleB, ref b2Transform xfB)
{
manifold.pointCount = 0;
b2Vec2 pA = b2Math.b2Mul(xfA, circleA.Position);
b2Vec2 pB = b2Math.b2Mul(xfB, circleB.Position);
b2Vec2 d = pB - pA;
float distSqr = b2Math.b2Dot(d, d);
float rA = circleA.Radius, rB = circleB.Radius;
float radius = rA + rB;
if (distSqr > radius * radius)
{
return;
}
manifold.type = b2ManifoldType.e_circles;
manifold.localPoint = circleA.Position;
manifold.localNormal.SetZero();
manifold.pointCount = 1;
manifold.points[0].localPoint = circleB.Position;
manifold.points[0].id = b2ContactFeature.Zero;
}
public override b2Shape Clone()
{
b2CircleShape clone = new b2CircleShape(this);
return(clone);
}
/// Compute the collision manifold between an edge and a circle.
public static void b2CollideEdgeAndCircle(ref b2Manifold manifold,
b2EdgeShape edgeA, ref b2Transform xfA,
b2CircleShape circleB, ref b2Transform xfB)
{
manifold.pointCount = 0;
// Compute circle in frame of edge
b2Vec2 Q = b2Math.b2MulT(xfA, b2Math.b2Mul(xfB, circleB.Position));
b2Vec2 A = edgeA.Vertex1, B = edgeA.Vertex2;
b2Vec2 e = B - A;
b2Vec2 diff;
// Barycentric coordinates
diff = B - Q;
float u = b2Math.b2Dot(ref e, ref diff); // B - Q);
diff = Q - A;
float v = b2Math.b2Dot(ref e, ref diff); // Q - A);
float radius = edgeA.Radius + circleB.Radius;
b2ContactFeature cf = b2ContactFeature.Zero;
cf.indexB = 0;
cf.typeB = b2ContactFeatureType.e_vertex;
// Region A
if (v <= 0.0f)
{
b2Vec2 P = A;
b2Vec2 d = Q - P;
float dd = d.LengthSquared; // b2Math.b2Dot(d, d);
if (dd > radius * radius)
{
return;
}
// Is there an edge connected to A?
if (edgeA.HasVertex0)
{
b2Vec2 A1 = edgeA.Vertex0;
b2Vec2 B1 = A;
b2Vec2 e1 = B1 - A1;
diff = B1 - Q;
float u1 = b2Math.b2Dot(ref e1, ref diff);
// Is the circle in Region AB of the previous edge?
if (u1 > 0.0f)
{
return;
}
}
cf.indexA = 0;
cf.typeA = b2ContactFeatureType.e_vertex;
manifold.pointCount = 1;
manifold.type = b2ManifoldType.e_circles;
manifold.localNormal.SetZero();
manifold.localPoint = P;
manifold.points[0].id.key = 0;
manifold.points[0].id.Set(cf);
manifold.points[0].localPoint = circleB.Position;
return;
}
// Region B
if (u <= 0.0f)
{
b2Vec2 P = B;
b2Vec2 d = Q - P;
float dd = d.LengthSquared; // b2Math.b2Dot(d, d);
if (dd > radius * radius)
{
return;
}
// Is there an edge connected to B?
if (edgeA.HasVertex3)
{
b2Vec2 B2 = edgeA.Vertex3;
b2Vec2 A2 = B;
b2Vec2 e2 = B2 - A2;
diff = Q - A2;
float v2 = b2Math.b2Dot(ref e2, ref diff);
// Is the circle in Region AB of the next edge?
if (v2 > 0.0f)
{
return;
}
}
cf.indexA = 1;
cf.typeA = b2ContactFeatureType.e_vertex;
manifold.pointCount = 1;
manifold.type = b2ManifoldType.e_circles;
manifold.localNormal.SetZero();
manifold.localPoint = P;
manifold.points[0].id.key = 0;
manifold.points[0].id.Set(cf);
manifold.points[0].localPoint = circleB.Position;
return;
}
// Region AB
float den = e.Length; // b2Math.b2Dot(e, e);
System.Diagnostics.Debug.Assert(den > 0.0f);
b2Vec2 xP = (1.0f / den) * (u * A + v * B);
b2Vec2 xd = Q - xP;
float xdd = xd.LengthSquared; // b2Math.b2Dot(xd, xd);
if (xdd > radius * radius)
{
return;
}
b2Vec2 n = b2Vec2.Zero; // new b2Vec2(-e.y, e.x);
n.m_x = -e.y;
n.m_y = e.x;
diff = Q - A;
if (b2Math.b2Dot(ref n, ref diff) < 0.0f)
{
// n.Set(-n.x, -n.y);
n.Set(-n.m_x, -n.m_y);
}
n.Normalize();
cf.indexA = 0;
cf.typeA = b2ContactFeatureType.e_face;
manifold.pointCount = 1;
manifold.type = b2ManifoldType.e_faceA;
manifold.localNormal = n;
manifold.localPoint = A;
manifold.points[0].id.key = 0;
manifold.points[0].id.Set(cf);
manifold.points[0].localPoint = circleB.Position;
}
public CollisionFiltering()
{
// Ground body
{
b2EdgeShape shape = new b2EdgeShape();
shape.Set(new b2Vec2(-40.0f, 0.0f), new b2Vec2(40.0f, 0.0f));
b2FixtureDef sd = new b2FixtureDef();
sd.shape = shape;
sd.friction = 0.3f;
b2BodyDef bd = new b2BodyDef();
b2Body ground = m_world.CreateBody(bd);
ground.CreateFixture(sd);
}
// Small triangle
b2Vec2[] vertices = new b2Vec2[3];
vertices[0].Set(-1.0f, 0.0f);
vertices[1].Set(1.0f, 0.0f);
vertices[2].Set(0.0f, 2.0f);
b2PolygonShape polygon = new b2PolygonShape();
polygon.Set(vertices, 3);
b2FixtureDef triangleShapeDef = new b2FixtureDef();
triangleShapeDef.shape = polygon;
triangleShapeDef.density = 1.0f;
triangleShapeDef.filter.groupIndex = k_smallGroup;
triangleShapeDef.filter.categoryBits = k_triangleCategory;
triangleShapeDef.filter.maskBits = k_triangleMask;
b2BodyDef triangleBodyDef = new b2BodyDef();
triangleBodyDef.type = b2BodyType.b2_dynamicBody;
triangleBodyDef.position.Set(-5.0f, 2.0f);
b2Body 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);
triangleShapeDef.filter.groupIndex = k_largeGroup;
triangleBodyDef.position.Set(-5.0f, 6.0f);
triangleBodyDef.fixedRotation = true; // look at me!
b2Body body2 = m_world.CreateBody(triangleBodyDef);
body2.CreateFixture(triangleShapeDef);
{
b2BodyDef bd = new b2BodyDef();
bd.type = b2BodyType.b2_dynamicBody;
bd.position.Set(-5.0f, 10.0f);
b2Body body = m_world.CreateBody(bd);
b2PolygonShape p = new b2PolygonShape();
p.SetAsBox(0.5f, 1.0f);
body.CreateFixture(p, 1.0f);
b2PrismaticJointDef jd = new b2PrismaticJointDef();
jd.BodyA = body2;
jd.BodyB = body;
jd.enableLimit = true;
jd.localAnchorA.Set(0.0f, 4.0f);
jd.localAnchorB.SetZero();
jd.localAxisA.Set(0.0f, 1.0f);
jd.lowerTranslation = -1.0f;
jd.upperTranslation = 1.0f;
m_world.CreateJoint(jd);
}
// Small box
polygon.SetAsBox(1.0f, 0.5f);
b2FixtureDef boxShapeDef = new b2FixtureDef();
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;
b2BodyDef boxBodyDef = new b2BodyDef();
boxBodyDef.type = b2BodyType.b2_dynamicBody;
boxBodyDef.position.Set(0.0f, 2.0f);
b2Body body3 = m_world.CreateBody(boxBodyDef);
body3.CreateFixture(boxShapeDef);
// Large box (recycle definitions)
polygon.SetAsBox(2.0f, 1.0f);
boxShapeDef.filter.groupIndex = k_largeGroup;
boxBodyDef.position.Set(0.0f, 6.0f);
b2Body body4 = m_world.CreateBody(boxBodyDef);
body4.CreateFixture(boxShapeDef);
// Small circle
b2CircleShape circle = new b2CircleShape();
circle.Radius = 1.0f;
b2FixtureDef circleShapeDef = new b2FixtureDef();
circleShapeDef.shape = circle;
circleShapeDef.density = 1.0f;
circleShapeDef.filter.groupIndex = k_smallGroup;
circleShapeDef.filter.categoryBits = k_circleCategory;
circleShapeDef.filter.maskBits = k_circleMask;
b2BodyDef circleBodyDef = new b2BodyDef();
circleBodyDef.type = b2BodyType.b2_dynamicBody;
circleBodyDef.position.Set(5.0f, 2.0f);
b2Body body5 = m_world.CreateBody(circleBodyDef);
body5.CreateFixture(circleShapeDef);
// Large circle
circle.Radius = circle.Radius * 2.0f;
circleShapeDef.filter.groupIndex = k_largeGroup;
circleBodyDef.position.Set(5.0f, 6.0f);
b2Body body6 = m_world.CreateBody(circleBodyDef);
body6.CreateFixture(circleShapeDef);
}
public Revolute()
{
b2Body ground;
{
b2BodyDef bd = new b2BodyDef();
ground = m_world.CreateBody(bd);
b2EdgeShape shape = new b2EdgeShape();
shape.Set(new b2Vec2(-40.0f, 0.0f), new b2Vec2(40.0f, 0.0f));
b2FixtureDef fd = new b2FixtureDef();
fd.shape = shape;
//fd.filter.categoryBits = 2;
ground.CreateFixture(fd);
}
{
b2CircleShape shape = new b2CircleShape();
shape.Radius = 0.5f;
b2BodyDef bd = new b2BodyDef();
bd.type = b2BodyType.b2_dynamicBody;
b2RevoluteJointDef rjd = new b2RevoluteJointDef();
bd.position.Set(-10.0f, 20.0f);
b2Body body = m_world.CreateBody(bd);
body.CreateFixture(shape, 5.0f);
float w = 100.0f;
body.AngularVelocity = w;
body.LinearVelocity = new b2Vec2(-8.0f * w, 0.0f);
rjd.Initialize(ground, body, new b2Vec2(-10.0f, 12.0f));
rjd.motorSpeed = 1.0f * b2Settings.b2_pi;
rjd.maxMotorTorque = 10000.0f;
rjd.enableMotor = false;
rjd.lowerAngle = -0.25f * b2Settings.b2_pi;
rjd.upperAngle = 0.5f * b2Settings.b2_pi;
rjd.enableLimit = true;
rjd.CollideConnected = true;
m_joint = (b2RevoluteJoint) m_world.CreateJoint(rjd);
}
{
b2CircleShape circle_shape = new b2CircleShape();
circle_shape.Radius = 3.0f;
b2BodyDef circle_bd = new b2BodyDef();
circle_bd.type = b2BodyType.b2_dynamicBody;
circle_bd.position.Set(5.0f, 30.0f);
b2FixtureDef fd = new b2FixtureDef();
fd.density = 5.0f;
fd.filter.maskBits = 1;
fd.shape = circle_shape;
m_ball = m_world.CreateBody(circle_bd);
m_ball.CreateFixture(fd);
b2PolygonShape polygon_shape = new b2PolygonShape();
polygon_shape.SetAsBox(10.0f, 0.2f, new b2Vec2(-10.0f, 0.0f), 0.0f);
b2BodyDef polygon_bd = new b2BodyDef();
polygon_bd.position.Set(20.0f, 10.0f);
polygon_bd.type = b2BodyType.b2_dynamicBody;
polygon_bd.bullet = true;
b2Body polygon_body = m_world.CreateBody(polygon_bd);
polygon_body.CreateFixture(polygon_shape, 2.0f);
b2RevoluteJointDef rjd = new b2RevoluteJointDef();
rjd.Initialize(ground, polygon_body, new b2Vec2(20.0f, 10.0f));
rjd.lowerAngle = -0.25f * b2Settings.b2_pi;
rjd.upperAngle = 0.0f * b2Settings.b2_pi;
rjd.enableLimit = true;
m_world.CreateJoint(rjd);
}
// Tests mass computation of a small object far from the origin
{
b2BodyDef bodyDef = new b2BodyDef();
bodyDef.type = b2BodyType.b2_dynamicBody;
b2Body body = m_world.CreateBody(bodyDef);
b2PolygonShape polyShape = new b2PolygonShape();
b2Vec2[] verts = new b2Vec2[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, 3);
b2FixtureDef polyFixtureDef = new b2FixtureDef();
polyFixtureDef.shape = polyShape;
polyFixtureDef.density = 1;
body.CreateFixture(polyFixtureDef); //assertion hits inside here
}
}
public TheoJansen()
{
m_offset.Set(0.0f, 8.0f);
m_motorSpeed = 2.0f;
m_motorOn = true;
b2Vec2 pivot = new b2Vec2(0.0f, 0.8f);
// Ground
{
b2BodyDef bd = new b2BodyDef();
b2Body ground = m_world.CreateBody(bd);
b2EdgeShape shape = new b2EdgeShape();
shape.Set(new b2Vec2(-50.0f, 0.0f), new b2Vec2(50.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
shape.Set(new b2Vec2(-50.0f, 0.0f), new b2Vec2(-50.0f, 10.0f));
ground.CreateFixture(shape, 0.0f);
shape.Set(new b2Vec2(50.0f, 0.0f), new b2Vec2(50.0f, 10.0f));
ground.CreateFixture(shape, 0.0f);
}
// Balls
for (int i = 0; i < 40; ++i)
{
b2CircleShape shape = new b2CircleShape();
shape.Radius = 0.25f;
b2BodyDef bd = new b2BodyDef();
bd.type = b2BodyType.b2_dynamicBody;
bd.position.Set(-40.0f + 2.0f * i, 0.5f);
b2Body body = m_world.CreateBody(bd);
body.CreateFixture(shape, 1.0f);
}
// Chassis
{
b2PolygonShape shape = new b2PolygonShape();
shape.SetAsBox(2.5f, 1.0f);
b2FixtureDef sd = new b2FixtureDef();
sd.density = 1.0f;
sd.shape = shape;
sd.filter.groupIndex = -1;
b2BodyDef bd = new b2BodyDef();
bd.type = b2BodyType.b2_dynamicBody;
bd.position = pivot + m_offset;
m_chassis = m_world.CreateBody(bd);
m_chassis.CreateFixture(sd);
}
{
b2CircleShape shape = new b2CircleShape();
shape.Radius = 1.6f;
b2FixtureDef sd = new b2FixtureDef();
sd.density = 1.0f;
sd.shape = shape;
sd.filter.groupIndex = -1;
b2BodyDef bd = new b2BodyDef();
bd.type = b2BodyType.b2_dynamicBody;
bd.position = pivot + m_offset;
m_wheel = m_world.CreateBody(bd);
m_wheel.CreateFixture(sd);
}
{
b2RevoluteJointDef jd = new b2RevoluteJointDef();
jd.Initialize(m_wheel, m_chassis, pivot + m_offset);
jd.CollideConnected = false;
jd.motorSpeed = m_motorSpeed;
jd.maxMotorTorque = 400.0f;
jd.enableMotor = m_motorOn;
m_motorJoint = (b2RevoluteJoint) m_world.CreateJoint(jd);
}
b2Vec2 wheelAnchor = new b2Vec2();
wheelAnchor = pivot + new b2Vec2(0.0f, -0.8f);
CreateLeg(-1.0f, wheelAnchor);
CreateLeg(1.0f, wheelAnchor);
m_wheel.SetTransform(m_wheel.Position, 120.0f * b2Settings.b2_pi / 180.0f);
CreateLeg(-1.0f, wheelAnchor);
CreateLeg(1.0f, wheelAnchor);
m_wheel.SetTransform(m_wheel.Position, -120.0f * b2Settings.b2_pi / 180.0f);
CreateLeg(-1.0f, wheelAnchor);
CreateLeg(1.0f, wheelAnchor);
}
