Ejemplo n.º 1
0
        public override void initTest(bool deserialized)
        {
            if (deserialized)
            {
                return;
            }
            Body[] bodies = new Body[e_count];
            {
                BodyDef bd = new BodyDef();
                Body ground = getWorld().createBody(bd);

                EdgeShape shape = new EdgeShape();
                shape.set(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
                ground.createFixture(shape, 0.0f);
            }

            {
                CircleShape shape = new CircleShape();
                shape.m_radius = 1.0f;

                for (int i = 0; i < e_count; ++i)
                {
                    BodyDef bd = new BodyDef();
                    bd.type = BodyType.DYNAMIC;
                    bd.position.set(0.0f, 4.0f + 3.0f*i);

                    bodies[i] = getWorld().createBody(bd);

                    bodies[i].createFixture(shape, 1.0f);

                    // m_bodies[i].setLinearVelocity(new Vec2(0.0f, -100.0f));
                }
            }
        }
Ejemplo n.º 2
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        public override void initTest(bool argDeserialized)
        {
            // Ground body
            {
                BodyDef bd = new BodyDef();
                Body ground = getWorld().createBody(bd);

                EdgeShape shape = new EdgeShape();
                shape.set(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
                ground.createFixture(shape, 0.0f);
            }

            // Breakable dynamic body
            {
                BodyDef bd = new BodyDef();
                bd.type = BodyType.DYNAMIC;
                bd.position.set(0.0f, 40.0f);
                bd.angle = 0.25f*MathUtils.PI;
                m_body1 = getWorld().createBody(bd);

                m_shape1 = new PolygonShape();
                m_shape1.setAsBox(0.5f, 0.5f, new Vec2(-0.5f, 0.0f), 0.0f);
                m_piece1 = m_body1.createFixture(m_shape1, 1.0f);

                m_shape2 = new PolygonShape();
                m_shape2.setAsBox(0.5f, 0.5f, new Vec2(0.5f, 0.0f), 0.0f);
                m_piece2 = m_body1.createFixture(m_shape2, 1.0f);
            }

            m_break = false;
            m_broke = false;
        }
Ejemplo n.º 3
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 public override Shape clone()
 {
     EdgeShape edge = new EdgeShape();
     edge.m_radius = this.m_radius;
     edge.m_hasVertex0 = this.m_hasVertex0;
     edge.m_hasVertex3 = this.m_hasVertex3;
     edge.m_vertex0.set(this.m_vertex0);
     edge.m_vertex1.set(this.m_vertex1);
     edge.m_vertex2.set(this.m_vertex2);
     edge.m_vertex3.set(this.m_vertex3);
     return edge;
 }
Ejemplo n.º 4
0
        public override void initTest(bool deserialized)
        {
            if (deserialized)
            {
                return;
            }
            Body ground = null;
            {
                BodyDef bd = new BodyDef();
                ground = getWorld().createBody(bd);

                EdgeShape shape = new EdgeShape();
                shape.set(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
                ground.createFixture(shape, 0.0f);
            }

            {
                PolygonShape shape = new PolygonShape();
                shape.setAsBox(2.0f, 0.5f);

                BodyDef bd = new BodyDef();
                bd.type = BodyType.DYNAMIC;
                bd.position.set(-10.0f, 10.0f);
                bd.angle = 0.5f*MathUtils.PI;
                bd.allowSleep = false;
                Body body = getWorld().createBody(bd);
                body.createFixture(shape, 5.0f);

                PrismaticJointDef pjd = new PrismaticJointDef();

                // Bouncy limit
                Vec2 axis = new Vec2(2.0f, 1.0f);
                axis.normalize();
                pjd.initialize(ground, body, new Vec2(0.0f, 0.0f), axis);

                // Non-bouncy limit
                // pjd.Initialize(ground, body, Vec2(-10.0f, 10.0f), Vec2(1.0f, 0.0f));

                pjd.motorSpeed = 10.0f;
                pjd.maxMotorForce = 10000.0f;
                pjd.enableMotor = true;
                pjd.lowerTranslation = 0.0f;
                pjd.upperTranslation = 20.0f;
                pjd.enableLimit = true;

                m_joint = (PrismaticJoint) getWorld().createJoint(pjd);
            }
        }
Ejemplo n.º 5
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        public override void initTest(bool deserialized)
        {
            if (deserialized)
            {
                return;
            }

            Body ground = null;
            {
                BodyDef bd = new BodyDef();
                ground = getWorld().createBody(bd);

                EdgeShape shape = new EdgeShape();
                shape.set(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
                ground.createFixture(shape, 0.0f);
            }

            {
                PolygonShape shape = new PolygonShape();
                shape.setAsBox(0.6f, 0.125f);

                FixtureDef fd = new FixtureDef();
                fd.shape = shape;
                fd.density = 20.0f;
                fd.friction = 0.2f;

                RevoluteJointDef jd = new RevoluteJointDef();
                jd.collideConnected = false;

                float y = 25.0f;
                Body prevBody = ground;
                for (int i = 0; i < 30; ++i)
                {
                    BodyDef bd = new BodyDef();
                    bd.type = BodyType.DYNAMIC;
                    bd.position.set(0.5f + i, y);
                    Body body = getWorld().createBody(bd);
                    body.createFixture(fd);

                    Vec2 anchor = new Vec2(i, y);
                    jd.initialize(prevBody, body, anchor);
                    getWorld().createJoint(jd);

                    prevBody = body;
                }
            }
        }
Ejemplo n.º 6
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        public override void initTest(bool deserialized)
        {
            if (deserialized)
            {
                return;
            }
            // Ground
            {

                EdgeShape shape = new EdgeShape();
                shape.set(new Vec2(-20.0f, 0.0f), new Vec2(20.0f, 0.0f));
                getGroundBody().createFixture(shape, 0.0f);
            }

            // Platform
            {
                BodyDef bd = new BodyDef();
                bd.position.set(-5.0f, 5.0f);
                Body body = getWorld().createBody(bd);

                PolygonShape shape = new PolygonShape();
                shape.setAsBox(10.0f, 0.5f);

                FixtureDef fd = new FixtureDef();
                fd.shape = shape;
                fd.friction = 0.8f;
                m_platform = body.createFixture(fd);
            }

            // Boxes
            for (int i = 0; i < 5; ++i)
            {
                BodyDef bd = new BodyDef();
                bd.type = BodyType.DYNAMIC;
                bd.position.set(-10.0f + 2.0f*i, 7.0f);
                Body body = m_world.createBody(bd);

                PolygonShape shape = new PolygonShape();
                shape.setAsBox(0.5f, 0.5f);
                body.createFixture(shape, 20.0f);
            }
        }
Ejemplo n.º 7
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        public override void initTest(bool deserialized)
        {
            {
                BodyDef bd = new BodyDef();
                bd.position.set(0.0f, 0.0f);
                Body body = m_world.createBody(bd);

                EdgeShape edge = new EdgeShape();

                edge.set(new Vec2(-10.0f, 0.0f), new Vec2(10.0f, 0.0f));
                body.createFixture(edge, 0.0f);

                PolygonShape shape = new PolygonShape();
                shape.setAsBox(0.2f, 1.0f, new Vec2(0.5f, 1.0f), 0.0f);
                body.createFixture(shape, 0.0f);
            }

            {
                BodyDef bd = new BodyDef();
                bd.type = BodyType.DYNAMIC;
                bd.position.set(0.0f, 4.0f);

                PolygonShape box = new PolygonShape();
                box.setAsBox(2.0f, 0.1f);

                m_body = m_world.createBody(bd);
                m_body.createFixture(box, 1.0f);

                box.setAsBox(0.25f, 0.25f);

                // m_x = RandomFloat(-1.0f, 1.0f);
                m_x = -0.06530577f;
                bd.position.set(m_x, 10.0f);
                bd.bullet = true;

                m_bullet = m_world.createBody(bd);
                m_bullet.createFixture(box, 100.0f);

                m_bullet.setLinearVelocity(new Vec2(0.0f, -50.0f));
            }
        }
Ejemplo n.º 8
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        public override void initTest(bool argDeserialized)
        {
            {
                BodyDef bd = new BodyDef();
                bd.position.set(0.0f, 0.0f);
                Body body = getWorld().createBody(bd);

                EdgeShape shape = new EdgeShape();

                shape.set(new Vec2(-10.0f, 0.0f), new Vec2(10.0f, 0.0f));
                body.createFixture(shape, 0.0f);

                PolygonShape pshape = new PolygonShape();
                pshape.setAsBox(0.2f, 1.0f, new Vec2(0.5f, 1.0f), 0.0f);
                body.createFixture(pshape, 0.0f);
            }
            m_poly = new PolygonShape();
            m_poly.setAsBox(2.0f, 0.1f);
            m_circle = new CircleShape();
            m_circle.m_p.setZero();
            m_circle.m_radius = 0.5f;

            BodyDef bd2 = new BodyDef();
            bd2.type = BodyType.DYNAMIC;
            bd2.position.set(0.0f, 20.0f);

            m_body = getWorld().createBody(bd2);
            currFixture = m_body.createFixture(m_poly, 1.0f);

            m_angularVelocity = (float) _random.NextDouble()*100 - 50;
            m_angularVelocity = 33.468121f;
            m_body.setLinearVelocity(new Vec2(0.0f, -100.0f));
            m_body.setAngularVelocity(m_angularVelocity);

            TimeOfImpact.toiCalls = 0;
            TimeOfImpact.toiIters = 0;
            TimeOfImpact.toiMaxIters = 0;
            TimeOfImpact.toiRootIters = 0;
            TimeOfImpact.toiMaxRootIters = 0;
        }
Ejemplo n.º 9
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        public override void initTest(bool argDeserialized)
        {
            {
                BodyDef bd = new BodyDef();
                Body ground = getWorld().createBody(bd);

                EdgeShape shape = new EdgeShape();
                shape.set(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
                ground.createFixture(shape, 0.0f);
            }

            BodyDef bd2 = new BodyDef();
            bd2.type = BodyType.DYNAMIC;
            bd2.position.set(0.0f, 10.0f);
            m_body = getWorld().createBody(bd2);

            PolygonShape shape2 = new PolygonShape();
            shape2.setAsBox(4.0f, 4.0f, new Vec2(0.0f, 0.0f), 0.0f);
            m_fixture1 = m_body.createFixture(shape2, 10.0f);

            m_fixture2 = null;
        }
Ejemplo n.º 10
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        public override void initTest(bool deserialized)
        {
            if (deserialized)
            {
                return;
            }
            {
                BodyDef bd = new BodyDef();
                Body ground = getWorld().createBody(bd);

                EdgeShape shape = new EdgeShape();
                shape.set(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
                ground.createFixture(shape, 0.0f);
            }

            {
                CircleShape shape = new CircleShape();
                shape.m_radius = 1.0f;

                FixtureDef fd = new FixtureDef();
                fd.shape = shape;
                fd.density = 1.0f;

                float[] restitution = {0.0f, 0.1f, 0.3f, 0.5f, 0.75f, 0.9f, 1.0f};

                for (int i = 0; i < 7; ++i)
                {
                    BodyDef bd = new BodyDef();
                    bd.type = BodyType.DYNAMIC;
                    bd.position.set(-10.0f + 3.0f*i, 20.0f);

                    Body body = getWorld().createBody(bd);

                    fd.restitution = restitution[i];
                    body.createFixture(fd);
                }
            }
        }
Ejemplo n.º 11
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        public override void initTest(bool deserialized)
        {
            {
                EdgeShape shape = new EdgeShape();
                shape.set(new Vec2(-20.0f, 0.0f), new Vec2(20.0f, 0.0f));
                FixtureDef fd = new FixtureDef();
                fd.shape = shape;
                getGroundBody().createFixture(fd);
            }

            // Define motorized body
            {
                BodyDef bd = new BodyDef();
                bd.type = BodyType.DYNAMIC;
                bd.position.set(0.0f, 8.0f);
                Body body = getWorld().createBody(bd);

                PolygonShape shape = new PolygonShape();
                shape.setAsBox(2.0f, 0.5f);

                FixtureDef fd = new FixtureDef();
                fd.shape = shape;
                fd.friction = 0.6f;
                fd.density = 2.0f;
                body.createFixture(fd);

                MotorJointDef mjd = new MotorJointDef();
                mjd.initialize(getGroundBody(), body);
                mjd.maxForce = 1000.0f;
                mjd.maxTorque = 1000.0f;
                m_joint = (MotorJoint) m_world.createJoint(mjd);
            }

            m_go = false;
            m_time = 0.0f;
        }
Ejemplo n.º 12
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        public override void initTest(bool deserialized)
        {
            for (int i = 0; i < m_touching.Length; i++)
            {
                m_touching[i] = new BoolWrapper();
            }

            {
                BodyDef bd = new BodyDef();
                Body ground = getWorld().createBody(bd);

                {
                    EdgeShape shape = new EdgeShape();
                    shape.set(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
                    ground.createFixture(shape, 0.0f);
                }

                {
                    CircleShape shape = new CircleShape();
                    shape.m_radius = 5.0f;
                    shape.m_p.set(0.0f, 10.0f);

                    FixtureDef fd = new FixtureDef();
                    fd.shape = shape;
                    fd._isSensor = true;
                    m_sensor = ground.createFixture(fd);
                }
            }

            {
                CircleShape shape = new CircleShape();
                shape.m_radius = 1.0f;

                for (int i = 0; i < _e_count; ++i)
                {
                    BodyDef bd = new BodyDef();
                    bd.type = BodyType.DYNAMIC;
                    bd.position.set(-10.0f + 3.0f*i, 20.0f);
                    bd.userData = m_touching[i];

                    m_touching[i].tf = false;
                    m_bodies[i] = getWorld().createBody(bd);

                    m_bodies[i].createFixture(shape, 1.0f);
                }
            }
        }
Ejemplo n.º 13
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        public override void initTest(bool argDeserialized)
        {
            if (argDeserialized)
            {
                return;
            }
            {
                BodyDef bd = new BodyDef();
                Body ground = getWorld().createBody(bd);

                EdgeShape shape = new EdgeShape();

                // Floor
                shape.set(new Vec2(-10.0f, 0.0f), new Vec2(10.0f, 0.0f));
                ground.createFixture(shape, 0.0f);

                // Left wall
                shape.set(new Vec2(-10.0f, 0.0f), new Vec2(-10.0f, 20.0f));
                ground.createFixture(shape, 0.0f);

                // Right wall
                shape.set(new Vec2(10.0f, 0.0f), new Vec2(10.0f, 20.0f));
                ground.createFixture(shape, 0.0f);

                // Roof
                shape.set(new Vec2(-10.0f, 20.0f), new Vec2(10.0f, 20.0f));
                ground.createFixture(shape, 0.0f);
            }

            float radius = 0.5f;
            CircleShape shape2 = new CircleShape();
            shape2.m_p.setZero();
            shape2.m_radius = radius;

            FixtureDef fd = new FixtureDef();
            fd.shape = shape2;
            fd.density = 1.0f;
            fd.friction = 0.1f;

            for (int j = 0; j < e_columnCount; ++j)
            {
                for (int i = 0; i < e_rowCount; ++i)
                {
                    BodyDef bd = new BodyDef();
                    bd.type = BodyType.DYNAMIC;
                    bd.position.set(-10.0f + (2.1f*j + 1.0f + 0.01f*i)*radius, (2.0f*i + 1.0f)*radius);
                    Body body = getWorld().createBody(bd);

                    body.createFixture(fd);
                }
            }

            getWorld().setGravity(new Vec2(0.0f, 0.0f));
        }
Ejemplo n.º 14
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        public override void initTest(bool deserialized)
        {
            {
                BodyDef bd = new BodyDef();
                Body ground = m_world.createBody(bd);

                ChainShape shape = new ChainShape();
                Vec2[] vertices =
                    new Vec2[] {new Vec2(-20, 0), new Vec2(20, 0), new Vec2(20, 40), new Vec2(-20, 40)};
                shape.createLoop(vertices, 4);
                ground.createFixture(shape, 0.0f);

            }

            m_world.setParticleRadius(0.15f);
            {
                PolygonShape shape = new PolygonShape();
                shape.setAsBox(20, 4, new Vec2(0, 36), 0);
                ParticleGroupDef pd = new ParticleGroupDef();
                pd.flags = ParticleType.b2_tensileParticle | ParticleType.b2_viscousParticle;
                pd.shape = shape;
                m_world.createParticleGroup(pd);
            }

            {
                BodyDef bd = new BodyDef();
                Body body = m_world.createBody(bd);
                EdgeShape shape = new EdgeShape();
                shape.set(new Vec2(-20, 32), new Vec2(-12, 32));
                body.createFixture(shape, 0.1f);
            }

            {
                BodyDef bd = new BodyDef();
                Body body = m_world.createBody(bd);
                EdgeShape shape = new EdgeShape();
                shape.set(new Vec2(-11, 32), new Vec2(20, 32));
                body.createFixture(shape, 0.1f);
            }

            {
                BodyDef bd = new BodyDef();
                Body body = m_world.createBody(bd);
                EdgeShape shape = new EdgeShape();
                shape.set(new Vec2(-12, 32), new Vec2(-12, 28));
                body.createFixture(shape, 0.1f);
            }

            {
                BodyDef bd = new BodyDef();
                Body body = m_world.createBody(bd);
                EdgeShape shape = new EdgeShape();
                shape.set(new Vec2(-11, 32), new Vec2(-11, 28));
                body.createFixture(shape, 0.1f);
            }

            {
                BodyDef bd = new BodyDef();
                Body body = m_world.createBody(bd);
                EdgeShape shape = new EdgeShape();
                shape.set(new Vec2(-16, 24), new Vec2(8, 20));
                body.createFixture(shape, 0.1f);
            }

            {
                BodyDef bd = new BodyDef();
                Body body = m_world.createBody(bd);
                EdgeShape shape = new EdgeShape();
                shape.set(new Vec2(16, 16), new Vec2(-8, 12));
                body.createFixture(shape, 0.1f);
            }

            {
                BodyDef bd = new BodyDef();
                Body body = m_world.createBody(bd);
                EdgeShape shape = new EdgeShape();
                shape.set(new Vec2(-12, 8), new Vec2(-12, 0));
                body.createFixture(shape, 0.1f);
            }

            {
                BodyDef bd = new BodyDef();
                Body body = m_world.createBody(bd);
                EdgeShape shape = new EdgeShape();
                shape.set(new Vec2(-4, 8), new Vec2(-4, 0));
                body.createFixture(shape, 0.1f);
            }

            {
                BodyDef bd = new BodyDef();
                Body body = m_world.createBody(bd);
                EdgeShape shape = new EdgeShape();
                shape.set(new Vec2(4, 8), new Vec2(4, 0));
                body.createFixture(shape, 0.1f);
            }

            {
                BodyDef bd = new BodyDef();
                Body body = m_world.createBody(bd);
                EdgeShape shape = new EdgeShape();
                shape.set(new Vec2(12, 8), new Vec2(12, 0));
                body.createFixture(shape, 0.1f);
            }
        }
Ejemplo n.º 15
0
        public override void initTest(bool deserialized)
        {
            if (deserialized)
            {
                return;
            }
            // Ground body
            {
                EdgeShape shape = new EdgeShape();
                shape.set(new Vec2(-50.0f, 0.0f), new Vec2(50.0f, 0.0f));

                FixtureDef sd = new FixtureDef();
                sd.shape = shape;

                BodyDef bd = new BodyDef();
                Body ground = getWorld().createBody(bd);
                ground.createFixture(sd);
            }

            float xLo = -5.0f, xHi = 5.0f;
            float yLo = 2.0f, yHi = 35.0f;

            // Small triangle
            Vec2[] vertices = new Vec2[3];
            vertices[0] = new Vec2(-1.0f, 0.0f);
            vertices[1] = new Vec2(1.0f, 0.0f);
            vertices[2] = new Vec2(0.0f, 2.0f);

            PolygonShape polygon = new PolygonShape();
            polygon.set(vertices, 3);

            FixtureDef triangleShapeDef = new FixtureDef();
            triangleShapeDef.shape = polygon;
            triangleShapeDef.density = 1.0f;

            BodyDef triangleBodyDef = new BodyDef();
            triangleBodyDef.type = BodyType.DYNAMIC;
            triangleBodyDef.position.set(MathUtils.randomFloat(xLo, xHi), MathUtils.randomFloat(yLo, yHi));

            Body body1 = getWorld().createBody(triangleBodyDef);
            body1.createFixture(triangleShapeDef);

            // Large triangle (recycle definitions)
            vertices[0].mulLocal(2.0f);
            vertices[1].mulLocal(2.0f);
            vertices[2].mulLocal(2.0f);
            polygon.set(vertices, 3);

            triangleBodyDef.position.set(MathUtils.randomFloat(xLo, xHi), MathUtils.randomFloat(yLo, yHi));

            Body body2 = getWorld().createBody(triangleBodyDef);
            body2.createFixture(triangleShapeDef);

            // Small box
            polygon.setAsBox(1.0f, 0.5f);

            FixtureDef boxShapeDef = new FixtureDef();
            boxShapeDef.shape = polygon;
            boxShapeDef.density = 1.0f;

            BodyDef boxBodyDef = new BodyDef();
            boxBodyDef.type = BodyType.DYNAMIC;
            boxBodyDef.position.set(MathUtils.randomFloat(xLo, xHi), MathUtils.randomFloat(yLo, yHi));

            Body body3 = getWorld().createBody(boxBodyDef);
            body3.createFixture(boxShapeDef);

            // Large box (recycle definitions)
            polygon.setAsBox(2.0f, 1.0f);
            boxBodyDef.position.set(MathUtils.randomFloat(xLo, xHi), MathUtils.randomFloat(yLo, yHi));

            Body body4 = getWorld().createBody(boxBodyDef);
            body4.createFixture(boxShapeDef);

            // Small circle
            CircleShape circle = new CircleShape();
            circle.m_radius = 1.0f;

            FixtureDef circleShapeDef = new FixtureDef();
            circleShapeDef.shape = circle;
            circleShapeDef.density = 1.0f;

            BodyDef circleBodyDef = new BodyDef();
            circleBodyDef.type = BodyType.DYNAMIC;
            circleBodyDef.position.set(MathUtils.randomFloat(xLo, xHi), MathUtils.randomFloat(yLo, yHi));

            Body body5 = getWorld().createBody(circleBodyDef);
            body5.createFixture(circleShapeDef);

            // Large circle
            circle.m_radius *= 2.0f;
            circleBodyDef.position.set(MathUtils.randomFloat(xLo, xHi), MathUtils.randomFloat(yLo, yHi));

            Body body6 = getWorld().createBody(circleBodyDef);
            body6.createFixture(circleShapeDef);
        }
Ejemplo n.º 16
0
        public override void initTest(bool argDeserialized)
        {
            Body ground = null;
            {
                BodyDef bd = new BodyDef();
                ground = getWorld().createBody(bd);

                EdgeShape shape = new EdgeShape();
                shape.set(new Vec2(50.0f, 0.0f), new Vec2(-50.0f, 0.0f));
                ground.createFixture(shape, 0.0f);
            }

            {
                CircleShape circle1 = new CircleShape();
                circle1.m_radius = 1.0f;

                PolygonShape box = new PolygonShape();
                box.setAsBox(0.5f, 5.0f);

                CircleShape circle2 = new CircleShape();
                circle2.m_radius = 2.0f;

                BodyDef bd1 = new BodyDef();
                bd1.type = BodyType.STATIC;
                bd1.position.set(10.0f, 9.0f);
                Body body1 = m_world.createBody(bd1);
                body1.createFixture(circle1, 5.0f);

                BodyDef bd2 = new BodyDef();
                bd2.type = BodyType.DYNAMIC;
                bd2.position.set(10.0f, 8.0f);
                Body body2 = m_world.createBody(bd2);
                body2.createFixture(box, 5.0f);

                BodyDef bd3 = new BodyDef();
                bd3.type = BodyType.DYNAMIC;
                bd3.position.set(10.0f, 6.0f);
                Body body3 = m_world.createBody(bd3);
                body3.createFixture(circle2, 5.0f);

                RevoluteJointDef jd1 = new RevoluteJointDef();
                jd1.initialize(body2, body1, bd1.position);
                Joint joint1 = m_world.createJoint(jd1);

                RevoluteJointDef jd2 = new RevoluteJointDef();
                jd2.initialize(body2, body3, bd3.position);
                Joint joint2 = m_world.createJoint(jd2);

                GearJointDef jd4 = new GearJointDef();
                jd4.bodyA = body1;
                jd4.bodyB = body3;
                jd4.joint1 = joint1;
                jd4.joint2 = joint2;
                jd4.ratio = circle2.m_radius/circle1.m_radius;
                m_world.createJoint(jd4);
            }

            {
                CircleShape circle1 = new CircleShape();
                circle1.m_radius = 1.0f;

                CircleShape circle2 = new CircleShape();
                circle2.m_radius = 2.0f;

                PolygonShape box = new PolygonShape();
                box.setAsBox(0.5f, 5.0f);

                BodyDef bd1 = new BodyDef();
                bd1.type = BodyType.DYNAMIC;
                bd1.position.set(-3.0f, 12.0f);
                Body body1 = m_world.createBody(bd1);
                body1.createFixture(circle1, 5.0f);

                RevoluteJointDef jd1 = new RevoluteJointDef();
                jd1.bodyA = ground;
                jd1.bodyB = body1;
                ground.getLocalPointToOut(bd1.position, ref jd1.localAnchorA);
                body1.getLocalPointToOut(bd1.position, ref jd1.localAnchorB);
                jd1.referenceAngle = body1.getAngle() - ground.getAngle();
                m_joint1 = (RevoluteJoint) m_world.createJoint(jd1);

                BodyDef bd2 = new BodyDef();
                bd2.type = BodyType.DYNAMIC;
                bd2.position.set(0.0f, 12.0f);
                Body body2 = m_world.createBody(bd2);
                body2.createFixture(circle2, 5.0f);

                RevoluteJointDef jd2 = new RevoluteJointDef();
                jd2.initialize(ground, body2, bd2.position);
                m_joint2 = (RevoluteJoint) m_world.createJoint(jd2);

                BodyDef bd3 = new BodyDef();
                bd3.type = BodyType.DYNAMIC;
                bd3.position.set(2.5f, 12.0f);
                Body body3 = m_world.createBody(bd3);
                body3.createFixture(box, 5.0f);

                PrismaticJointDef jd3 = new PrismaticJointDef();
                jd3.initialize(ground, body3, bd3.position, new Vec2(0.0f, 1.0f));
                jd3.lowerTranslation = -5.0f;
                jd3.upperTranslation = 5.0f;
                jd3.enableLimit = true;

                m_joint3 = (PrismaticJoint) m_world.createJoint(jd3);

                GearJointDef jd4 = new GearJointDef();
                jd4.bodyA = body1;
                jd4.bodyB = body2;
                jd4.joint1 = m_joint1;
                jd4.joint2 = m_joint2;
                jd4.ratio = circle2.m_radius/circle1.m_radius;
                m_joint4 = (GearJoint) m_world.createJoint(jd4);

                GearJointDef jd5 = new GearJointDef();
                jd5.bodyA = body2;
                jd5.bodyB = body3;
                jd5.joint1 = m_joint2;
                jd5.joint2 = m_joint3;
                jd5.ratio = 1f/circle2.m_radius;
                m_joint5 = (GearJoint) m_world.createJoint(jd5);
            }
        }
Ejemplo n.º 17
0
        public override void initTest(bool deserialized)
        {
            {
                BodyDef bd = new BodyDef();
                Body ground = m_world.createBody(bd);

                {
                    PolygonShape shape = new PolygonShape();
                    Vec2[] vertices =
                        new Vec2[] {new Vec2(-40, -10), new Vec2(40, -10), new Vec2(40, 0), new Vec2(-40, 0)};
                    shape.set(vertices, 4);
                    ground.createFixture(shape, 0.0f);
                }

                {
                    PolygonShape shape = new PolygonShape();
                    Vec2[] vertices =
                        new Vec2[] {new Vec2(-40, -1), new Vec2(-20, -1), new Vec2(-20, 20), new Vec2(-40, 30)};
                    shape.set(vertices, 4);
                    ground.createFixture(shape, 0.0f);
                }

                {
                    PolygonShape shape = new PolygonShape();
                    Vec2[] vertices =
                        new Vec2[] {new Vec2(20, -1), new Vec2(40, -1), new Vec2(40, 30), new Vec2(20, 20)};
                    shape.set(vertices, 4);
                    ground.createFixture(shape, 0.0f);
                }
            }

            m_world.setParticleRadius(0.2f);
            {
                PolygonShape shape = new PolygonShape();
                shape.setAsBox(20, 10, new Vec2(0, 10), 0);
                ParticleGroupDef pd = new ParticleGroupDef();
                pd.flags = flags;
                pd.shape = shape;
                m_world.createParticleGroup(pd);
            }

            {
                BodyDef bd = new BodyDef();
                bd.type = BodyType.KINEMATIC;
                Body body = m_world.createBody(bd);
                circle = body;
                CircleShape shape = new CircleShape();
                shape.m_p.set(0, 5);
                shape.m_radius = 1;
                body.createFixture(shape, 0.1f);
                body.setLinearVelocity(new Vec2(-6, 0.0f));
            }

            {
                BodyDef bd = new BodyDef();
                bd.type = BodyType.DYNAMIC;
                Body body = m_world.createBody(bd);
                PolygonShape shape = new PolygonShape();
                shape.setAsBox(1, 1, new Vec2(-10, 5), 0);
                body.createFixture(shape, 0.1f);
            }

            {
                BodyDef bd = new BodyDef();
                bd.type = BodyType.DYNAMIC;
                Body body = m_world.createBody(bd);
                PolygonShape shape = new PolygonShape();
                shape.setAsBox(1, 1, new Vec2(10, 5), 0.5f);
                body.createFixture(shape, 0.1f);
            }

            {
                BodyDef bd = new BodyDef();
                bd.type = BodyType.DYNAMIC;
                Body body = m_world.createBody(bd);
                EdgeShape shape = new EdgeShape();
                shape.set(new Vec2(0, 20), new Vec2(1, 21));
                body.createFixture(shape, 0.1f);
            }

            {
                BodyDef bd = new BodyDef();
                bd.type = BodyType.DYNAMIC;
                Body body = m_world.createBody(bd);
                EdgeShape shape = new EdgeShape();
                shape.set(new Vec2(3, 20), new Vec2(4, 21));
                body.createFixture(shape, 0.1f);
            }

            {
                BodyDef bd = new BodyDef();
                bd.type = BodyType.DYNAMIC;
                Body body = m_world.createBody(bd);
                EdgeShape shape = new EdgeShape();
                shape.set(new Vec2(-3, 21), new Vec2(-2, 20));
                body.createFixture(shape, 0.1f);
            }
        }
Ejemplo n.º 18
0
        public override void initTest(bool argDeserialized)
        {
            if (argDeserialized)
            {
                return;
            }

            m_offset.set(0.0f, 8.0f);
            m_motorSpeed = 2.0f;
            m_motorOn = true;
            Vec2 pivot = new Vec2(0.0f, 0.8f);

            // Ground
            {
                BodyDef bd = new BodyDef();
                Body ground = getWorld().createBody(bd);

                EdgeShape shape = new EdgeShape();
                shape.set(new Vec2(-50.0f, 0.0f), new Vec2(50.0f, 0.0f));
                ground.createFixture(shape, 0.0f);

                shape.set(new Vec2(-50.0f, 0.0f), new Vec2(-50.0f, 10.0f));
                ground.createFixture(shape, 0.0f);

                shape.set(new Vec2(50.0f, 0.0f), new Vec2(50.0f, 10.0f));
                ground.createFixture(shape, 0.0f);
            }

            // Balls
            for (int i = 0; i < 40; ++i)
            {
                CircleShape shape = new CircleShape();
                shape.m_radius = 0.25f;

                BodyDef bd = new BodyDef();
                bd.type = BodyType.DYNAMIC;
                bd.position.set(-40.0f + 2.0f*i, 0.5f);

                Body body = getWorld().createBody(bd);
                body.createFixture(shape, 1.0f);
            }

            // Chassis
            {
                PolygonShape shape = new PolygonShape();
                shape.setAsBox(2.5f, 1.0f);

                FixtureDef sd = new FixtureDef();
                sd.density = 1.0f;
                sd.shape = shape;
                sd.filter.groupIndex = -1;
                BodyDef bd = new BodyDef();
                bd.type = BodyType.DYNAMIC;
                bd.position.set(pivot);
                bd.position.addLocal(m_offset);
                m_chassis = getWorld().createBody(bd);
                m_chassis.createFixture(sd);
            }

            {
                CircleShape shape = new CircleShape();
                shape.m_radius = 1.6f;

                FixtureDef sd = new FixtureDef();
                sd.density = 1.0f;
                sd.shape = shape;
                sd.filter.groupIndex = -1;
                BodyDef bd = new BodyDef();
                bd.type = BodyType.DYNAMIC;
                bd.position.set(pivot);
                bd.position.addLocal(m_offset);
                m_wheel = getWorld().createBody(bd);
                m_wheel.createFixture(sd);
            }

            {
                RevoluteJointDef jd = new RevoluteJointDef();

                jd.initialize(m_wheel, m_chassis, pivot.add(m_offset));
                jd.collideConnected = false;
                jd.motorSpeed = m_motorSpeed;
                jd.maxMotorTorque = 400.0f;
                jd.enableMotor = m_motorOn;
                m_motorJoint = (RevoluteJoint) getWorld().createJoint(jd);
            }

            Vec2 wheelAnchor;

            wheelAnchor = pivot.add(new Vec2(0.0f, -0.8f));

            createLeg(-1.0f, wheelAnchor);
            createLeg(1.0f, wheelAnchor);

            m_wheel.setTransform(m_wheel.getPosition(), 120.0f*MathUtils.PI/180.0f);
            createLeg(-1.0f, wheelAnchor);
            createLeg(1.0f, wheelAnchor);

            m_wheel.setTransform(m_wheel.getPosition(), -120.0f*MathUtils.PI/180.0f);
            createLeg(-1.0f, wheelAnchor);
            createLeg(1.0f, wheelAnchor);
        }
Ejemplo n.º 19
0
        public override void initTest(bool deserialized)
        {
            if (deserialized)
            {
                return;
            }

            {
                BodyDef bd = new BodyDef();
                Body ground = getWorld().createBody(bd);

                EdgeShape shape = new EdgeShape();
                // shape.setAsBox(40, 10, new Vec2(0,-10), 0);
                shape.set(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
                ground.createFixture(shape, 0.0f);

                shape.set(new Vec2(20.0f, 0.0f), new Vec2(20.0f, 20.0f));
                ground.createFixture(shape, 0.0f);
            }

            float[] xs = new float[] {0.0f, -10.0f, -5.0f, 5.0f, 10.0f};

            for (int j = 0; j < e_columnCount; ++j)
            {
                PolygonShape shape = new PolygonShape();
                shape.setAsBox(0.5f, 0.5f);

                FixtureDef fd = new FixtureDef();
                fd.shape = shape;
                fd.density = 1.0f;
                fd.friction = 0.3f;

                for (int i = 0; i < e_rowCount; ++i)
                {
                    BodyDef bd = new BodyDef();
                    bd.type = BodyType.DYNAMIC;

                    int n = j*e_rowCount + i;
                    Debug.Assert(n < e_rowCount*e_columnCount);

                    float x = 0.0f;
                    // float x = RandomFloat(-0.02f, 0.02f);
                    // float x = i % 2 == 0 ? -0.025f : 0.025f;
                    bd.position.set(xs[j] + x, 0.752f + 1.54f*i);
                    Body body = getWorld().createBody(bd);

                    body.createFixture(fd);
                }
            }

            m_bullet = null;
        }
Ejemplo n.º 20
0
        public override void initTest(bool deserialized)
        {
            if (deserialized)
            {
                return;
            }
            m_hz = 4.0f;
            m_zeta = 0.7f;
            m_speed = 50.0f;

            Body ground = null;
            {
                BodyDef bd = new BodyDef();
                ground = m_world.createBody(bd);

                EdgeShape shape = new EdgeShape();

                FixtureDef fd = new FixtureDef();
                fd.shape = shape;
                fd.density = 0.0f;
                fd.friction = 0.6f;

                shape.set(new Vec2(-20.0f, 0.0f), new Vec2(20.0f, 0.0f));
                ground.createFixture(fd);

                float[] hs = {0.25f, 1.0f, 4.0f, 0.0f, 0.0f, -1.0f, -2.0f, -2.0f, -1.25f, 0.0f};

                float x = 20.0f, y1 = 0.0f, dx = 5.0f;

                for (int i = 0; i < 10; ++i)
                {
                    float y2 = hs[i];
                    shape.set(new Vec2(x, y1), new Vec2(x + dx, y2));
                    ground.createFixture(fd);
                    y1 = y2;
                    x += dx;
                }

                for (int i = 0; i < 10; ++i)
                {
                    float y2 = hs[i];
                    shape.set(new Vec2(x, y1), new Vec2(x + dx, y2));
                    ground.createFixture(fd);
                    y1 = y2;
                    x += dx;
                }

                shape.set(new Vec2(x, 0.0f), new Vec2(x + 40.0f, 0.0f));
                ground.createFixture(fd);

                x += 80.0f;
                shape.set(new Vec2(x, 0.0f), new Vec2(x + 40.0f, 0.0f));
                ground.createFixture(fd);

                x += 40.0f;
                shape.set(new Vec2(x, 0.0f), new Vec2(x + 10.0f, 5.0f));
                ground.createFixture(fd);

                x += 20.0f;
                shape.set(new Vec2(x, 0.0f), new Vec2(x + 40.0f, 0.0f));
                ground.createFixture(fd);

                x += 40.0f;
                shape.set(new Vec2(x, 0.0f), new Vec2(x, 20.0f));
                ground.createFixture(fd);
            }

            // Teeter
            {
                BodyDef bd = new BodyDef();
                bd.position.set(140.0f, 1.0f);
                bd.type = BodyType.DYNAMIC;
                Body body = m_world.createBody(bd);

                PolygonShape box = new PolygonShape();
                box.setAsBox(10.0f, 0.25f);
                body.createFixture(box, 1.0f);

                RevoluteJointDef jd = new RevoluteJointDef();
                jd.initialize(ground, body, body.getPosition());
                jd.lowerAngle = -8.0f*MathUtils.PI/180.0f;
                jd.upperAngle = 8.0f*MathUtils.PI/180.0f;
                jd.enableLimit = true;
                m_world.createJoint(jd);

                body.applyAngularImpulse(100.0f);
            }

            // Bridge
            {
                int N = 20;
                PolygonShape shape = new PolygonShape();
                shape.setAsBox(1.0f, 0.125f);

                FixtureDef fd = new FixtureDef();
                fd.shape = shape;
                fd.density = 1.0f;
                fd.friction = 0.6f;

                RevoluteJointDef jd = new RevoluteJointDef();

                Body prevBody = ground;
                for (int i = 0; i < N; ++i)
                {
                    BodyDef bd = new BodyDef();
                    bd.type = BodyType.DYNAMIC;
                    bd.position.set(161.0f + 2.0f*i, -0.125f);
                    Body body = m_world.createBody(bd);
                    body.createFixture(fd);

                    Vec2 anchor = new Vec2(160.0f + 2.0f*i, -0.125f);
                    jd.initialize(prevBody, body, anchor);
                    m_world.createJoint(jd);

                    prevBody = body;
                }

                Vec2 anchor2 = new Vec2(160.0f + 2.0f*N, -0.125f);
                jd.initialize(prevBody, ground, anchor2);
                m_world.createJoint(jd);
            }

            // Boxes
            {
                PolygonShape box = new PolygonShape();
                box.setAsBox(0.5f, 0.5f);

                Body body = null;
                BodyDef bd = new BodyDef();
                bd.type = BodyType.DYNAMIC;

                bd.position.set(230.0f, 0.5f);
                body = m_world.createBody(bd);
                body.createFixture(box, 0.5f);

                bd.position.set(230.0f, 1.5f);
                body = m_world.createBody(bd);
                body.createFixture(box, 0.5f);

                bd.position.set(230.0f, 2.5f);
                body = m_world.createBody(bd);
                body.createFixture(box, 0.5f);

                bd.position.set(230.0f, 3.5f);
                body = m_world.createBody(bd);
                body.createFixture(box, 0.5f);

                bd.position.set(230.0f, 4.5f);
                body = m_world.createBody(bd);
                body.createFixture(box, 0.5f);
            }

            // Car
            {
                PolygonShape chassis = new PolygonShape();
                Vec2[] vertices = new Vec2[8];
                vertices[0] = new Vec2(-1.5f, -0.5f);
                vertices[1] = new Vec2(1.5f, -0.5f);
                vertices[2] = new Vec2(1.5f, 0.0f);
                vertices[3] = new Vec2(0.0f, 0.9f);
                vertices[4] = new Vec2(-1.15f, 0.9f);
                vertices[5] = new Vec2(-1.5f, 0.2f);
                chassis.set(vertices, 6);

                CircleShape circle = new CircleShape();
                circle.m_radius = 0.4f;

                BodyDef bd = new BodyDef();
                bd.type = BodyType.DYNAMIC;
                bd.position.set(0.0f, 1.0f);
                m_car = m_world.createBody(bd);
                m_car.createFixture(chassis, 1.0f);

                FixtureDef fd = new FixtureDef();
                fd.shape = circle;
                fd.density = 1.0f;
                fd.friction = 0.9f;

                bd.position.set(-1.0f, 0.35f);
                m_wheel1 = m_world.createBody(bd);
                m_wheel1.createFixture(fd);

                bd.position.set(1.0f, 0.4f);
                m_wheel2 = m_world.createBody(bd);
                m_wheel2.createFixture(fd);

                WheelJointDef jd = new WheelJointDef();
                Vec2 axis = new Vec2(0.0f, 1.0f);

                jd.initialize(m_car, m_wheel1, m_wheel1.getPosition(), axis);
                jd.motorSpeed = 0.0f;
                jd.maxMotorTorque = 20.0f;
                jd.enableMotor = true;
                jd.frequencyHz = m_hz;
                jd.dampingRatio = m_zeta;
                m_spring1 = (WheelJoint) m_world.createJoint(jd);

                jd.initialize(m_car, m_wheel2, m_wheel2.getPosition(), axis);
                jd.motorSpeed = 0.0f;
                jd.maxMotorTorque = 10.0f;
                jd.enableMotor = false;
                jd.frequencyHz = m_hz;
                jd.dampingRatio = m_zeta;
                m_spring2 = (WheelJoint) m_world.createJoint(jd);
            }
        }
Ejemplo n.º 21
0
        /**
           * Get a child edge.
           */
        public void getChildEdge(EdgeShape edge, int index)
        {
            Debug.Assert(0 <= index && index < m_count - 1);
            edge.m_radius = m_radius;

            Vec2 v0 = m_vertices[index + 0];
            Vec2 v1 = m_vertices[index + 1];
            edge.m_vertex1.x = v0.x;
            edge.m_vertex1.y = v0.y;
            edge.m_vertex2.x = v1.x;
            edge.m_vertex2.y = v1.y;

            if (index > 0)
            {
                Vec2 v = m_vertices[index - 1];
                edge.m_vertex0.x = v.x;
                edge.m_vertex0.y = v.y;
                edge.m_hasVertex0 = true;
            }
            else
            {
                edge.m_vertex0.x = m_prevVertex.x;
                edge.m_vertex0.y = m_prevVertex.y;
                edge.m_hasVertex0 = m_hasPrevVertex;
            }

            if (index < m_count - 2)
            {
                Vec2 v = m_vertices[index + 2];
                edge.m_vertex3.x = v.x;
                edge.m_vertex3.y = v.y;
                edge.m_hasVertex3 = true;
            }
            else
            {
                edge.m_vertex3.x = m_nextVertex.x;
                edge.m_vertex3.y = m_nextVertex.y;
                edge.m_hasVertex3 = m_hasNextVertex;
            }
        }
Ejemplo n.º 22
0
        public override void initTest(bool deserialized)
        {
            //m_state = State.e_unknown;
            if (deserialized)
            {
                return;
            }
            // Ground
            {
                BodyDef bd = new BodyDef();
                Body ground = getWorld().createBody(bd);

                EdgeShape shape = new EdgeShape();
                shape.set(new Vec2(-20.0f, 0.0f), new Vec2(20.0f, 0.0f));
                ground.createFixture(shape, 0.0f);
            }

            // Platform
            {
                BodyDef bd = new BodyDef();
                bd.position.set(0.0f, 10.0f);
                Body body = getWorld().createBody(bd);

                PolygonShape shape = new PolygonShape();
                shape.setAsBox(3.0f, 0.5f);
                m_platform = body.createFixture(shape, 0.0f);

                //m_bottom = 10.0f - 0.5f;
                m_top = 10.0f + 0.5f;
            }

            // Actor
            {
                BodyDef bd = new BodyDef();
                bd.type = BodyType.DYNAMIC;
                bd.position.set(0.0f, 12.0f);
                Body body = getWorld().createBody(bd);

                m_radius = 0.5f;
                CircleShape shape = new CircleShape();
                shape.m_radius = m_radius;
                m_character = body.createFixture(shape, 20.0f);

                body.setLinearVelocity(new Vec2(0.0f, -50.0f));

                //m_state = State.e_unknown;
            }
        }
Ejemplo n.º 23
0
        public override void initTest(bool deserialized)
        {
            if (deserialized)
            {
                return;
            }

            getWorld().setGravity(new Vec2(0.0f, 0.0f));

            float k_restitution = 0.4f;

            Body ground;
            {
                BodyDef bd = new BodyDef();
                bd.position.set(0.0f, 20.0f);
                ground = getWorld().createBody(bd);

                EdgeShape shape = new EdgeShape();

                FixtureDef sd = new FixtureDef();
                sd.shape = shape;
                sd.density = 0.0f;
                sd.restitution = k_restitution;

                // Left vertical
                shape.set(new Vec2(-20.0f, -20.0f), new Vec2(-20.0f, 20.0f));
                ground.createFixture(sd);

                // Right vertical
                shape.set(new Vec2(20.0f, -20.0f), new Vec2(20.0f, 20.0f));
                ground.createFixture(sd);

                // Top horizontal
                shape.set(new Vec2(-20.0f, 20.0f), new Vec2(20.0f, 20.0f));
                ground.createFixture(sd);

                // Bottom horizontal
                shape.set(new Vec2(-20.0f, -20.0f), new Vec2(20.0f, -20.0f));
                ground.createFixture(sd);
            }

            {
                Transform xf1 = new Transform();
                xf1.q.set(0.3524f*MathUtils.PI);
                Rot.mulToOutUnsafe(xf1.q, new Vec2(1.0f, 0.0f), ref xf1.p);

                Vec2[] vertices = new Vec2[3];
                vertices[0] = Transform.mul(xf1, new Vec2(-1.0f, 0.0f));
                vertices[1] = Transform.mul(xf1, new Vec2(1.0f, 0.0f));
                vertices[2] = Transform.mul(xf1, new Vec2(0.0f, 0.5f));

                PolygonShape poly1 = new PolygonShape();
                poly1.set(vertices, 3);

                FixtureDef sd1 = new FixtureDef();
                sd1.shape = poly1;
                sd1.density = 4.0f;

                Transform xf2 = new Transform();
                xf2.q.set(-0.3524f*MathUtils.PI);
                Rot.mulToOut(xf2.q, new Vec2(-1.0f, 0.0f), ref xf2.p);

                vertices[0] = Transform.mul(xf2, new Vec2(-1.0f, 0.0f));
                vertices[1] = Transform.mul(xf2, new Vec2(1.0f, 0.0f));
                vertices[2] = Transform.mul(xf2, new Vec2(0.0f, 0.5f));

                PolygonShape poly2 = new PolygonShape();
                poly2.set(vertices, 3);

                FixtureDef sd2 = new FixtureDef();
                sd2.shape = poly2;
                sd2.density = 2.0f;

                BodyDef bd = new BodyDef();
                bd.type = BodyType.DYNAMIC;
                bd.angularDamping = 2.0f;
                bd.linearDamping = 0.5f;

                bd.position.set(0.0f, 2.0f);
                bd.angle = MathUtils.PI;
                bd.allowSleep = false;
                m_body = getWorld().createBody(bd);
                m_body.createFixture(sd1);
                m_body.createFixture(sd2);
            }

            {
                PolygonShape shape = new PolygonShape();
                shape.setAsBox(0.5f, 0.5f);

                FixtureDef fd = new FixtureDef();
                fd.shape = shape;
                fd.density = 1.0f;
                fd.friction = 0.3f;

                for (int i = 0; i < 10; ++i)
                {
                    BodyDef bd = new BodyDef();
                    bd.type = BodyType.DYNAMIC;

                    bd.position.set(0.0f, 5.0f + 1.54f*i);
                    Body body = getWorld().createBody(bd);

                    body.createFixture(fd);

                    float gravity = 10.0f;
                    float I = body.getInertia();
                    float mass = body.getMass();

                    // For a circle: I = 0.5 * m * r * r ==> r = sqrt(2 * I / m)
                    float radius = MathUtils.sqrt(2.0f*I/mass);

                    FrictionJointDef jd = new FrictionJointDef();
                    jd.localAnchorA.setZero();
                    jd.localAnchorB.setZero();
                    jd.bodyA = ground;
                    jd.bodyB = body;
                    jd.collideConnected = true;
                    jd.maxForce = mass*gravity;
                    jd.maxTorque = mass*radius*gravity;

                    getWorld().createJoint(jd);
                }
            }
        }
Ejemplo n.º 24
0
        public override void initTest(bool argDeserialized)
        {
            for (int i = 0; i < m_bodies.Length; i++)
            {
                m_bodies[i] = null;
            }
            // Ground body
            {
                BodyDef bd = new BodyDef();
                Body ground = getWorld().createBody(bd);

                float x1 = -20.0f;
                float y1 = 2.0f*MathUtils.cos(x1/10.0f*MathUtils.PI);
                for (int i = 0; i < 80; ++i)
                {
                    float x2 = x1 + 0.5f;
                    float y2 = 2.0f*MathUtils.cos(x2/10.0f*MathUtils.PI);

                    EdgeShape shape = new EdgeShape();
                    shape.set(new Vec2(x1, y1), new Vec2(x2, y2));
                    ground.createFixture(shape, 0.0f);

                    x1 = x2;
                    y1 = y2;
                }
            }

            {
                Vec2[] vertices = new Vec2[3];
                vertices[0] = new Vec2(-0.5f, 0.0f);
                vertices[1] = new Vec2(0.5f, 0.0f);
                vertices[2] = new Vec2(0.0f, 1.5f);
                m_polygons[0] = new PolygonShape();
                m_polygons[0].set(vertices, 3);
            }

            {
                Vec2[] vertices = new Vec2[3];
                vertices[0] = new Vec2(-0.1f, 0.0f);
                vertices[1] = new Vec2(0.1f, 0.0f);
                vertices[2] = new Vec2(0.0f, 1.5f);
                m_polygons[1] = new PolygonShape();
                m_polygons[1].set(vertices, 3);
            }

            {
                float w = 1.0f;
                float b = w/(2.0f + MathUtils.sqrt(2.0f));
                float s = MathUtils.sqrt(2.0f)*b;

                Vec2[] vertices = new Vec2[8];
                vertices[0] = new Vec2(0.5f*s, 0.0f);
                vertices[1] = new Vec2(0.5f*w, b);
                vertices[2] = new Vec2(0.5f*w, b + s);
                vertices[3] = new Vec2(0.5f*s, w);
                vertices[4] = new Vec2(-0.5f*s, w);
                vertices[5] = new Vec2(-0.5f*w, b + s);
                vertices[6] = new Vec2(-0.5f*w, b);
                vertices[7] = new Vec2(-0.5f*s, 0.0f);

                m_polygons[2] = new PolygonShape();
                m_polygons[2].set(vertices, 8);
            }

            {
                m_polygons[3] = new PolygonShape();
                m_polygons[3].setAsBox(0.5f, 0.5f);
            }

            {
                m_circle = new CircleShape();
                m_circle.m_radius = 0.5f;
            }

            m_bodyIndex = 0;
            m_angle = 0.0f;
        }
Ejemplo n.º 25
0
        public override void initTest(bool argDeserialized)
        {
            // Ground body
            {
                BodyDef bd = new BodyDef();
                Body ground = getWorld().createBody(bd);

                EdgeShape shape = new EdgeShape();
                shape.set(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
                ground.createFixture(shape, 0.0f);
            }

            {
                Vec2[] vertices = new Vec2[3];
                vertices[0] = new Vec2(-0.5f, 0.0f);
                vertices[1] = new Vec2(0.5f, 0.0f);
                vertices[2] = new Vec2(0.0f, 1.5f);
                m_polygons[0] = new PolygonShape();
                m_polygons[0].set(vertices, 3);
            }

            {
                Vec2[] vertices = new Vec2[3];
                vertices[0] = new Vec2(-0.1f, 0.0f);
                vertices[1] = new Vec2(0.1f, 0.0f);
                vertices[2] = new Vec2(0.0f, 1.5f);
                m_polygons[1] = new PolygonShape();
                m_polygons[1].set(vertices, 3);
            }

            {
                float w = 1.0f;
                float b = w/(2.0f + MathUtils.sqrt(2.0f));
                float s = MathUtils.sqrt(2.0f)*b;

                Vec2[] vertices = new Vec2[8];
                vertices[0] = new Vec2(0.5f*s, 0.0f);
                vertices[1] = new Vec2(0.5f*w, b);
                vertices[2] = new Vec2(0.5f*w, b + s);
                vertices[3] = new Vec2(0.5f*s, w);
                vertices[4] = new Vec2(-0.5f*s, w);
                vertices[5] = new Vec2(-0.5f*w, b + s);
                vertices[6] = new Vec2(-0.5f*w, b);
                vertices[7] = new Vec2(-0.5f*s, 0.0f);

                m_polygons[2] = new PolygonShape();
                m_polygons[2].set(vertices, 8);
            }

            {
                m_polygons[3] = new PolygonShape();
                m_polygons[3].setAsBox(0.5f, 0.5f);
            }

            {
                m_circle = new CircleShape();
                m_circle.m_radius = 0.5f;
            }

            m_bodyIndex = 0;
        }
Ejemplo n.º 26
0
        public override void initTest(bool deserialized)
        {
            if (deserialized)
            {
                return;
            }

            {
                BodyDef bd = new BodyDef();
                bd.position.set(0.0f, 0.0f);
                Body body = getWorld().createBody(bd);

                EdgeShape shape = new EdgeShape();
                shape.set(new Vec2(50.0f, 0.0f), new Vec2(-50.0f, 0.0f));

                body.createFixture(shape, 0.0f);
            }

            {
                CircleShape circle1 = new CircleShape();
                circle1.m_radius = 0.5f;
                circle1.m_p.set(-0.5f, 0.5f);

                CircleShape circle2 = new CircleShape();
                ;
                circle2.m_radius = 0.5f;
                circle2.m_p.set(0.5f, 0.5f);

                for (int i = 0; i < 10; ++i)
                {
                    float x = MathUtils.randomFloat(-0.1f, 0.1f);
                    BodyDef bd = new BodyDef();
                    bd.type = BodyType.DYNAMIC;
                    bd.position.set(x + 5.0f, 1.05f + 2.5f*i);
                    bd.angle = MathUtils.randomFloat(-MathUtils.PI, MathUtils.PI);
                    Body body = getWorld().createBody(bd);
                    body.createFixture(circle1, 2.0f);
                    body.createFixture(circle2, 0.0f);
                }
            }

            {
                PolygonShape polygon1 = new PolygonShape();
                polygon1.setAsBox(0.25f, 0.5f);

                PolygonShape polygon2 = new PolygonShape();
                polygon2.setAsBox(0.25f, 0.5f, new Vec2(0.0f, -0.5f), 0.5f*MathUtils.PI);

                for (int i = 0; i < 10; ++i)
                {
                    float x = MathUtils.randomFloat(-0.1f, 0.1f);
                    BodyDef bd = new BodyDef();
                    bd.type = BodyType.DYNAMIC;
                    bd.position.set(x - 5.0f, 1.05f + 2.5f*i);
                    bd.angle = MathUtils.randomFloat(-MathUtils.PI, MathUtils.PI);
                    Body body = getWorld().createBody(bd);
                    body.createFixture(polygon1, 2.0f);
                    body.createFixture(polygon2, 2.0f);
                }
            }

            {
                Transform xf1 = new Transform();
                xf1.q.set(0.3524f*MathUtils.PI);
                Rot.mulToOut(xf1.q, new Vec2(1.0f, 0.0f), ref xf1.p);

                Vec2[] vertices = new Vec2[3];

                PolygonShape triangle1 = new PolygonShape();
                vertices[0] = Transform.mul(xf1, new Vec2(-1.0f, 0.0f));
                vertices[1] = Transform.mul(xf1, new Vec2(1.0f, 0.0f));
                vertices[2] = Transform.mul(xf1, new Vec2(0.0f, 0.5f));
                triangle1.set(vertices, 3);

                Transform xf2 = new Transform();
                xf2.q.set(-0.3524f*MathUtils.PI);
                Rot.mulToOut(xf2.q, new Vec2(-1.0f, 0.0f), ref xf2.p);

                PolygonShape triangle2 = new PolygonShape();
                vertices[0] = Transform.mul(xf2, new Vec2(-1.0f, 0.0f));
                vertices[1] = Transform.mul(xf2, new Vec2(1.0f, 0.0f));
                vertices[2] = Transform.mul(xf2, new Vec2(0.0f, 0.5f));
                triangle2.set(vertices, 3);

                for (int i = 0; i < 10; ++i)
                {
                    float x = MathUtils.randomFloat(-0.1f, 0.1f);
                    BodyDef bd = new BodyDef();
                    bd.type = BodyType.DYNAMIC;
                    bd.position.set(x, 2.05f + 2.5f*i);
                    bd.angle = 0.0f;
                    Body body = getWorld().createBody(bd);
                    body.createFixture(triangle1, 2.0f);
                    body.createFixture(triangle2, 2.0f);
                }
            }

            {
                PolygonShape bottom = new PolygonShape();
                bottom.setAsBox(1.5f, 0.15f);

                PolygonShape left = new PolygonShape();
                left.setAsBox(0.15f, 2.7f, new Vec2(-1.45f, 2.35f), 0.2f);

                PolygonShape right = new PolygonShape();
                right.setAsBox(0.15f, 2.7f, new Vec2(1.45f, 2.35f), -0.2f);

                BodyDef bd = new BodyDef();
                bd.type = BodyType.DYNAMIC;
                bd.position.set(0.0f, 2.0f);
                Body body = getWorld().createBody(bd);
                body.createFixture(bottom, 4.0f);
                body.createFixture(left, 4.0f);
                body.createFixture(right, 4.0f);
            }
        }
Ejemplo n.º 27
0
        public override void initTest(bool argDeserialized)
        {
            if (argDeserialized)
            {
                return;
            }
            Body ground = null;
            {
                BodyDef bd = new BodyDef();
                ground = getWorld().createBody(bd);

                EdgeShape shape = new EdgeShape();
                shape.set(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
                ground.createFixture(shape, 0.0f);
            }

            {
                PolygonShape shape = new PolygonShape();
                shape.setAsBox(0.5f, 0.125f);

                FixtureDef fd = new FixtureDef();
                fd.shape = shape;
                fd.density = 20.0f;

                WeldJointDef jd = new WeldJointDef();

                Body prevBody = ground;
                for (int i = 0; i < e_count; ++i)
                {
                    BodyDef bd = new BodyDef();
                    bd.type = BodyType.DYNAMIC;
                    bd.position.set(-14.5f + 1.0f*i, 5.0f);
                    Body body = getWorld().createBody(bd);
                    body.createFixture(fd);

                    Vec2 anchor = new Vec2(-15.0f + 1.0f*i, 5.0f);
                    jd.initialize(prevBody, body, anchor);
                    getWorld().createJoint(jd);

                    prevBody = body;
                }
            }

            {
                PolygonShape shape = new PolygonShape();
                shape.setAsBox(1f, 0.125f);

                FixtureDef fd = new FixtureDef();
                fd.shape = shape;
                fd.density = 20.0f;

                WeldJointDef jd = new WeldJointDef();
                jd.frequencyHz = 5f;
                jd.dampingRatio = .7f;

                Body prevBody = ground;
                for (int i = 0; i < 3; ++i)
                {
                    BodyDef bd = new BodyDef();
                    bd.type = BodyType.DYNAMIC;
                    bd.position.set(-14.0f + 2.0f*i, 15.0f);
                    Body body = getWorld().createBody(bd);
                    body.createFixture(fd);

                    Vec2 anchor = new Vec2(-15.0f + 2.0f*i, 15.0f);
                    jd.initialize(prevBody, body, anchor);
                    getWorld().createJoint(jd);

                    prevBody = body;
                }
            }

            {
                PolygonShape shape = new PolygonShape();
                shape.setAsBox(0.5f, 0.125f);

                FixtureDef fd = new FixtureDef();
                fd.shape = shape;
                fd.density = 20.0f;

                WeldJointDef jd = new WeldJointDef();

                Body prevBody = ground;
                for (int i = 0; i < e_count; ++i)
                {
                    BodyDef bd = new BodyDef();
                    bd.type = BodyType.DYNAMIC;
                    bd.position.set(-4.5f + 1.0f*i, 5.0f);
                    Body body = getWorld().createBody(bd);
                    body.createFixture(fd);

                    if (i > 0)
                    {
                        Vec2 anchor = new Vec2(-5.0f + 1.0f*i, 5.0f);
                        jd.initialize(prevBody, body, anchor);
                        getWorld().createJoint(jd);
                    }

                    prevBody = body;
                }
            }

            {
                PolygonShape shape = new PolygonShape();
                shape.setAsBox(0.5f, 0.125f);

                FixtureDef fd = new FixtureDef();
                fd.shape = shape;
                fd.density = 20.0f;

                WeldJointDef jd = new WeldJointDef();
                jd.frequencyHz = 8f;
                jd.dampingRatio = .7f;

                Body prevBody = ground;
                for (int i = 0; i < e_count; ++i)
                {
                    BodyDef bd = new BodyDef();
                    bd.type = BodyType.DYNAMIC;
                    bd.position.set(5.5f + 1.0f*i, 10.0f);
                    Body body = getWorld().createBody(bd);
                    body.createFixture(fd);

                    if (i > 0)
                    {
                        Vec2 anchor = new Vec2(5.0f + 1.0f*i, 10.0f);
                        jd.initialize(prevBody, body, anchor);
                        getWorld().createJoint(jd);
                    }

                    prevBody = body;
                }
            }

            for (int i = 0; i < 2; ++i)
            {
                Vec2[] vertices = new Vec2[3];
                vertices[0] = new Vec2(-0.5f, 0.0f);
                vertices[1] = new Vec2(0.5f, 0.0f);
                vertices[2] = new Vec2(0.0f, 1.5f);

                PolygonShape shape = new PolygonShape();
                shape.set(vertices, 3);

                FixtureDef fd = new FixtureDef();
                fd.shape = shape;
                fd.density = 1.0f;

                BodyDef bd = new BodyDef();
                bd.type = BodyType.DYNAMIC;
                bd.position.set(-8.0f + 8.0f*i, 12.0f);
                Body body = getWorld().createBody(bd);
                body.createFixture(fd);
            }

            for (int i = 0; i < 2; ++i)
            {
                CircleShape shape = new CircleShape();
                shape.m_radius = 0.5f;

                FixtureDef fd = new FixtureDef();
                fd.shape = shape;
                fd.density = 1.0f;

                BodyDef bd = new BodyDef();
                bd.type = BodyType.DYNAMIC;
                bd.position.set(-6.0f + 6.0f*i, 10.0f);
                Body body = getWorld().createBody(bd);
                body.createFixture(fd);
            }
        }
Ejemplo n.º 28
0
        public override void initTest(bool deserialized)
        {
            if (deserialized)
            {
                return;
            }
            // Ground body
            {
                EdgeShape shape = new EdgeShape();
                shape.set(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));

                FixtureDef sd = new FixtureDef();
                sd.shape = shape;
                sd.friction = 0.3f;

                BodyDef bd = new BodyDef();
                Body ground = getWorld().createBody(bd);
                ground.createFixture(sd);
            }

            // Small triangle
            Vec2[] vertices = new Vec2[3];
            vertices[0] = new Vec2(-1.0f, 0.0f);
            vertices[1] = new Vec2(1.0f, 0.0f);
            vertices[2] = new Vec2(0.0f, 2.0f);
            PolygonShape polygon = new PolygonShape();
            polygon.set(vertices, 3);

            FixtureDef triangleShapeDef = new FixtureDef();
            triangleShapeDef.shape = polygon;
            triangleShapeDef.density = 1.0f;

            triangleShapeDef.filter.groupIndex = k_smallGroup;
            triangleShapeDef.filter.categoryBits = k_triangleCategory;
            triangleShapeDef.filter.maskBits = k_triangleMask;

            BodyDef triangleBodyDef = new BodyDef();
            triangleBodyDef.type = BodyType.DYNAMIC;
            triangleBodyDef.position.set(-5.0f, 2.0f);

            Body body1 = getWorld().createBody(triangleBodyDef);
            body1.createFixture(triangleShapeDef);

            // Large triangle (recycle definitions)
            vertices[0].mulLocal(2.0f);
            vertices[1].mulLocal(2.0f);
            vertices[2].mulLocal(2.0f);
            polygon.set(vertices, 3);
            triangleShapeDef.filter.groupIndex = k_largeGroup;
            triangleBodyDef.position.set(-5.0f, 6.0f);
            triangleBodyDef.fixedRotation = true; // look at me!

            Body body2 = getWorld().createBody(triangleBodyDef);
            body2.createFixture(triangleShapeDef);

            {
                BodyDef bd = new BodyDef();
                bd.type = BodyType.DYNAMIC;
                bd.position.set(-5.0f, 10.0f);
                Body body = getWorld().createBody(bd);

                PolygonShape p = new PolygonShape();
                p.setAsBox(0.5f, 1.0f);
                body.createFixture(p, 1.0f);

                PrismaticJointDef jd = new PrismaticJointDef();
                jd.bodyA = body2;
                jd.bodyB = body;
                jd.enableLimit = true;
                jd.localAnchorA.set(0.0f, 4.0f);
                jd.localAnchorB.setZero();
                jd.localAxisA.set(0.0f, 1.0f);
                jd.lowerTranslation = -1.0f;
                jd.upperTranslation = 1.0f;

                getWorld().createJoint(jd);
            }

            // Small box
            polygon.setAsBox(1.0f, 0.5f);
            FixtureDef boxShapeDef = new FixtureDef();
            boxShapeDef.shape = polygon;
            boxShapeDef.density = 1.0f;
            boxShapeDef.restitution = 0.1f;

            boxShapeDef.filter.groupIndex = k_smallGroup;
            boxShapeDef.filter.categoryBits = k_boxCategory;
            boxShapeDef.filter.maskBits = k_boxMask;

            BodyDef boxBodyDef = new BodyDef();
            boxBodyDef.type = BodyType.DYNAMIC;
            boxBodyDef.position.set(0.0f, 2.0f);

            Body body3 = getWorld().createBody(boxBodyDef);
            body3.createFixture(boxShapeDef);

            // Large box (recycle definitions)
            polygon.setAsBox(2.0f, 1.0f);
            boxShapeDef.filter.groupIndex = k_largeGroup;
            boxBodyDef.position.set(0.0f, 6.0f);

            Body body4 = getWorld().createBody(boxBodyDef);
            body4.createFixture(boxShapeDef);

            // Small circle
            CircleShape circle = new CircleShape();
            circle.m_radius = 1.0f;

            FixtureDef circleShapeDef = new FixtureDef();
            circleShapeDef.shape = circle;
            circleShapeDef.density = 1.0f;

            circleShapeDef.filter.groupIndex = k_smallGroup;
            circleShapeDef.filter.categoryBits = k_circleCategory;
            circleShapeDef.filter.maskBits = k_circleMask;

            BodyDef circleBodyDef = new BodyDef();
            circleBodyDef.type = BodyType.DYNAMIC;
            circleBodyDef.position.set(5.0f, 2.0f);

            Body body5 = getWorld().createBody(circleBodyDef);
            body5.createFixture(circleShapeDef);

            // Large circle
            circle.m_radius *= 2.0f;
            circleShapeDef.filter.groupIndex = k_largeGroup;
            circleBodyDef.position.set(5.0f, 6.0f);

            Body body6 = getWorld().createBody(circleBodyDef);
            body6.createFixture(circleShapeDef);
        }
Ejemplo n.º 29
0
        public override void initTest(bool deserialized)
        {
            if (deserialized)
            {
                return;
            }
            Body ground = null;
            {
                BodyDef bd = new BodyDef();
                ground = getWorld().createBody(bd);

                EdgeShape shape = new EdgeShape();
                shape.set(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
                ground.createFixture(shape, 0.0f);
            }

            {
                CircleShape shape = new CircleShape();
                shape.m_radius = 0.5f;

                BodyDef bd = new BodyDef();
                bd.type = BodyType.DYNAMIC;

                RevoluteJointDef rjd = new RevoluteJointDef();

                bd.position.set(-10f, 20.0f);
                Body body = getWorld().createBody(bd);
                body.createFixture(shape, 5.0f);

                float w = 100.0f;
                body.setAngularVelocity(w);
                body.setLinearVelocity(new Vec2(-8.0f*w, 0.0f));

                rjd.initialize(ground, body, new Vec2(-10.0f, 12.0f));
                rjd.motorSpeed = -1.0f*MathUtils.PI;
                rjd.maxMotorTorque = 10000.0f;
                rjd.enableMotor = false;
                rjd.lowerAngle = -0.25f*MathUtils.PI;
                rjd.upperAngle = 0.5f*MathUtils.PI;
                rjd.enableLimit = true;
                rjd.collideConnected = true;

                m_joint = (RevoluteJoint) getWorld().createJoint(rjd);
            }

            {
                CircleShape circle_shape = new CircleShape();
                circle_shape.m_radius = 3.0f;

                BodyDef circle_bd = new BodyDef();
                circle_bd.type = BodyType.DYNAMIC;
                circle_bd.position.set(5.0f, 30.0f);

                FixtureDef fd = new FixtureDef();
                fd.density = 5.0f;
                fd.filter.maskBits = 1;
                fd.shape = circle_shape;

                Body ball = m_world.createBody(circle_bd);
                ball.createFixture(fd);

                PolygonShape polygon_shape = new PolygonShape();
                polygon_shape.setAsBox(10.0f, 0.2f, new Vec2(-10.0f, 0.0f), 0.0f);

                BodyDef polygon_bd = new BodyDef();
                polygon_bd.position.set(20.0f, 10.0f);
                polygon_bd.type = BodyType.DYNAMIC;
                polygon_bd.bullet = true;
                Body polygon_body = m_world.createBody(polygon_bd);
                polygon_body.createFixture(polygon_shape, 2.0f);

                RevoluteJointDef rjd = new RevoluteJointDef();
                rjd.initialize(ground, polygon_body, new Vec2(20.0f, 10.0f));
                rjd.lowerAngle = -0.25f*MathUtils.PI;
                rjd.upperAngle = 0.0f*MathUtils.PI;
                rjd.enableLimit = true;
                m_world.createJoint(rjd);
            }

            // Tests mass computation of a small object far from the origin
            {
                BodyDef bodyDef = new BodyDef();
                bodyDef.type = BodyType.DYNAMIC;
                Body body = m_world.createBody(bodyDef);

                PolygonShape polyShape = new PolygonShape();
                Vec2[] verts = new Vec2[3];
                verts[0] = new Vec2(17.63f, 36.31f);
                verts[1] = new Vec2(17.52f, 36.69f);
                verts[2] = new Vec2(17.19f, 36.36f);
                polyShape.set(verts, 3);

                FixtureDef polyFixtureDef = new FixtureDef();
                polyFixtureDef.shape = polyShape;
                polyFixtureDef.density = 1;

                body.createFixture(polyFixtureDef); // assertion hits inside here
            }
        }
Ejemplo n.º 30
0
        public override void initTest(bool deserialized)
        {
            if (deserialized)
            {
                return;
            }
            // Ground body
            {
                BodyDef bd = new BodyDef();
                Body ground = getWorld().createBody(bd);

                EdgeShape shape = new EdgeShape();
                shape.set(new Vec2(-20.0f, 0.0f), new Vec2(20.0f, 0.0f));
                ground.createFixture(shape, 0.0f);
            }

            // Collinear edges
            // This shows the problematic case where a box shape can hit
            // an internal vertex.
            {
                BodyDef bd = new BodyDef();
                Body ground = getWorld().createBody(bd);

                EdgeShape shape = new EdgeShape();
                shape.m_radius = 0.0f;
                shape.set(new Vec2(-8.0f, 1.0f), new Vec2(-6.0f, 1.0f));
                ground.createFixture(shape, 0.0f);
                shape.set(new Vec2(-6.0f, 1.0f), new Vec2(-4.0f, 1.0f));
                ground.createFixture(shape, 0.0f);
                shape.set(new Vec2(-4.0f, 1.0f), new Vec2(-2.0f, 1.0f));
                ground.createFixture(shape, 0.0f);
            }

            // Chain shape
            {
                BodyDef bd = new BodyDef();
                bd.angle = 0.25f*MathUtils.PI;
                Body ground = getWorld().createBody(bd);

                Vec2[] vs = new Vec2[4];
                vs[0] = new Vec2(5.0f, 7.0f);
                vs[1] = new Vec2(6.0f, 8.0f);
                vs[2] = new Vec2(7.0f, 8.0f);
                vs[3] = new Vec2(8.0f, 7.0f);
                ChainShape shape = new ChainShape();
                shape.createChain(vs, 4);
                ground.createFixture(shape, 0.0f);
            }

            // Square tiles. This shows that adjacency shapes may
            // have non-smooth collision. There is no solution
            // to this problem.
            {
                BodyDef bd = new BodyDef();
                Body ground = getWorld().createBody(bd);

                PolygonShape shape = new PolygonShape();
                shape.setAsBox(1.0f, 1.0f, new Vec2(4.0f, 3.0f), 0.0f);
                ground.createFixture(shape, 0.0f);
                shape.setAsBox(1.0f, 1.0f, new Vec2(6.0f, 3.0f), 0.0f);
                ground.createFixture(shape, 0.0f);
                shape.setAsBox(1.0f, 1.0f, new Vec2(8.0f, 3.0f), 0.0f);
                ground.createFixture(shape, 0.0f);
            }

            // Square made from an edge loop. Collision should be smooth.
            {
                BodyDef bd = new BodyDef();
                Body ground = m_world.createBody(bd);

                Vec2[] vs = new Vec2[4];
                vs[0] = new Vec2(-1.0f, 3.0f);
                vs[1] = new Vec2(1.0f, 3.0f);
                vs[2] = new Vec2(1.0f, 5.0f);
                vs[3] = new Vec2(-1.0f, 5.0f);
                ChainShape shape = new ChainShape();
                shape.createLoop(vs, 4);
                ground.createFixture(shape, 0.0f);
            }

            // Edge loop. Collision should be smooth.
            {
                BodyDef bd = new BodyDef();
                bd.position.set(-10.0f, 4.0f);
                Body ground = getWorld().createBody(bd);

                Vec2[] vs = new Vec2[10];
                vs[0] = new Vec2(0.0f, 0.0f);
                vs[1] = new Vec2(6.0f, 0.0f);
                vs[2] = new Vec2(6.0f, 2.0f);
                vs[3] = new Vec2(4.0f, 1.0f);
                vs[4] = new Vec2(2.0f, 2.0f);
                vs[5] = new Vec2(0.0f, 2.0f);
                vs[6] = new Vec2(-2.0f, 2.0f);
                vs[7] = new Vec2(-4.0f, 3.0f);
                vs[8] = new Vec2(-6.0f, 2.0f);
                vs[9] = new Vec2(-6.0f, 0.0f);
                ChainShape shape = new ChainShape();
                shape.createLoop(vs, 10);
                ground.createFixture(shape, 0.0f);
            }

            // Square character 1
            {
                BodyDef bd = new BodyDef();
                bd.position.set(-3.0f, 8.0f);
                bd.type = BodyType.DYNAMIC;
                bd.fixedRotation = true;
                bd.allowSleep = false;

                Body body = getWorld().createBody(bd);

                PolygonShape shape = new PolygonShape();
                shape.setAsBox(0.5f, 0.5f);

                FixtureDef fd = new FixtureDef();
                fd.shape = shape;
                fd.density = 20.0f;
                body.createFixture(fd);
            }

            // Square character 2
            {
                BodyDef bd = new BodyDef();
                bd.position.set(-5.0f, 5.0f);
                bd.type = BodyType.DYNAMIC;
                bd.fixedRotation = true;
                bd.allowSleep = false;

                Body body = getWorld().createBody(bd);

                PolygonShape shape = new PolygonShape();
                shape.setAsBox(0.25f, 0.25f);

                FixtureDef fd = new FixtureDef();
                fd.shape = shape;
                fd.density = 20.0f;
                body.createFixture(fd);
            }

            // Hexagon character
            {
                BodyDef bd = new BodyDef();
                bd.position.set(-5.0f, 8.0f);
                bd.type = BodyType.DYNAMIC;
                bd.fixedRotation = true;
                bd.allowSleep = false;

                Body body = getWorld().createBody(bd);

                float angle = 0.0f;
                float delta = MathUtils.PI/3.0f;
                Vec2[] vertices = new Vec2[6];
                for (int i = 0; i < 6; ++i)
                {
                    vertices[i] = new Vec2(0.5f*MathUtils.cos(angle), 0.5f*MathUtils.sin(angle));
                    angle += delta;
                }

                PolygonShape shape = new PolygonShape();
                shape.set(vertices, 6);

                FixtureDef fd = new FixtureDef();
                fd.shape = shape;
                fd.density = 20.0f;
                body.createFixture(fd);
            }

            // Circle character
            {
                BodyDef bd = new BodyDef();
                bd.position.set(3.0f, 5.0f);
                bd.type = BodyType.DYNAMIC;
                bd.fixedRotation = true;
                bd.allowSleep = false;

                Body body = getWorld().createBody(bd);

                CircleShape shape = new CircleShape();
                shape.m_radius = 0.5f;

                FixtureDef fd = new FixtureDef();
                fd.shape = shape;
                fd.density = 20.0f;
                body.createFixture(fd);
            }

            // Circle character
            {
                BodyDef bd = new BodyDef();
                bd.position.set(-7.0f, 6.0f);
                bd.type = BodyType.DYNAMIC;
                bd.allowSleep = false;

                m_character = getWorld().createBody(bd);

                CircleShape shape = new CircleShape();
                shape.m_radius = 0.25f;

                FixtureDef fd = new FixtureDef();
                fd.shape = shape;
                fd.density = 20.0f;
                fd.friction = 1;
                m_character.createFixture(fd);
            }
        }