public override void initTest(bool argDeserialized)
{
input.transformA = new Transform();
input.transformB = new Transform();
{
m_transformA = new Transform();
m_transformA.setIdentity();
m_transformA.p.set(0.0f, -0.2f);
m_polygonA = new PolygonShape();
m_polygonA.setAsBox(10.0f, 0.2f);
}
{
m_positionB = new Vec2();
m_positionB.set(12.017401f, 0.13678508f);
m_angleB = -0.0109265f;
m_transformB = new Transform();
m_transformB.set(m_positionB, m_angleB);
m_polygonB = new PolygonShape();
m_polygonB.setAsBox(2.0f, 0.1f);
}
for (int i = 0; i < v.Length; i++)
{
v[i] = new Vec2();
}
}
public override void initTest(bool deserialized)
{
{
{
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);
getGroundBody().createFixture(shape, 0.0f);
}
{
PolygonShape shape = new PolygonShape();
Vec2[] vertices =
{new Vec2(-40, -1), new Vec2(-20, -1), new Vec2(-20, 20), new Vec2(-40, 30)};
shape.set(vertices, 4);
getGroundBody().createFixture(shape, 0.0f);
}
{
PolygonShape shape = new PolygonShape();
Vec2[] vertices = {new Vec2(20, -1), new Vec2(40, -1), new Vec2(40, 30), new Vec2(20, 20)};
shape.set(vertices, 4);
getGroundBody().createFixture(shape, 0.0f);
}
}
m_world.setParticleRadius(0.35f);
m_world.setParticleDamping(0.2f);
{
CircleShape shape = new CircleShape();
shape.m_p.set(0, 30);
shape.m_radius = 20;
ParticleGroupDef pd = new ParticleGroupDef();
pd.flags = ParticleType.b2_waterParticle;
pd.shape = shape;
m_world.createParticleGroup(pd);
}
{
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
Body body = m_world.createBody(bd);
CircleShape shape = new CircleShape();
shape.m_p.set(0, 80);
shape.m_radius = 5;
body.createFixture(shape, 0.5f);
}
}
public override void initTest(bool deserialized)
{
if (deserialized)
{
return;
}
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = getWorld().createBody(bd);
EdgeShape shape = new EdgeShape();
shape.set(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
ground.createFixture(shape, 0.0f);
}
{
PolygonShape shape = new PolygonShape();
shape.setAsBox(0.6f, 0.125f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 20.0f;
fd.friction = 0.2f;
RevoluteJointDef jd = new RevoluteJointDef();
jd.collideConnected = false;
float y = 25.0f;
Body prevBody = ground;
for (int i = 0; i < 30; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.position.set(0.5f + i, y);
Body body = getWorld().createBody(bd);
body.createFixture(fd);
Vec2 anchor = new Vec2(i, y);
jd.initialize(prevBody, body, anchor);
getWorld().createJoint(jd);
prevBody = body;
}
}
}
public override void initTest(bool deserialized)
{
{
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.allowSleep = false;
bd.position.set(0.0f, 10.0f);
Body body = m_world.createBody(bd);
PolygonShape shape = new PolygonShape();
shape.setAsBox(0.5f, 10.0f, new Vec2(20.0f, 0.0f), 0.0f);
body.createFixture(shape, 5.0f);
shape.setAsBox(0.5f, 10.0f, new Vec2(-20.0f, 0.0f), 0.0f);
body.createFixture(shape, 5.0f);
shape.setAsBox(20.0f, 0.5f, new Vec2(0.0f, 10.0f), 0.0f);
body.createFixture(shape, 5.0f);
shape.setAsBox(20.0f, 0.5f, new Vec2(0.0f, -10.0f), 0.0f);
body.createFixture(shape, 5.0f);
RevoluteJointDef jd = new RevoluteJointDef();
jd.bodyA = getGroundBody();
jd.bodyB = body;
jd.localAnchorA.set(0.0f, 10.0f);
jd.localAnchorB.set(0.0f, 0.0f);
jd.referenceAngle = 0.0f;
jd.motorSpeed = 0.05f*MathUtils.PI;
jd.maxMotorTorque = 1e7f;
jd.enableMotor = true;
m_joint = (RevoluteJoint) m_world.createJoint(jd);
}
m_world.setParticleRadius(0.15f);
m_world.setParticleDamping(0.2f);
{
ParticleGroupDef pd = new ParticleGroupDef();
pd.flags = 0;
PolygonShape shape = new PolygonShape();
shape.setAsBox(9.0f, 9.0f, new Vec2(0.0f, 10.0f), 0.0f);
pd.shape = shape;
m_world.createParticleGroup(pd);
}
m_time = 0;
}
public override void initTest(bool deserialized)
{
{
{
PolygonShape shape = new PolygonShape();
Vec2[] vertices =
new Vec2[] {new Vec2(-40, -20), new Vec2(40, -20), new Vec2(40, 0), new Vec2(-40, 0)};
shape.set(vertices, 4);
getGroundBody().createFixture(shape, 0.0f);
}
{
PolygonShape shape = new PolygonShape();
Vec2[] vertices =
new Vec2[]
{
new Vec2(-40, -20), new Vec2(-20, -20), new Vec2(-20, 60),
new Vec2(-40, 60)
};
shape.set(vertices, 4);
getGroundBody().createFixture(shape, 0.0f);
}
{
PolygonShape shape = new PolygonShape();
Vec2[] vertices =
new Vec2[] {new Vec2(20, -20), new Vec2(40, -20), new Vec2(40, 60), new Vec2(20, 60)};
shape.set(vertices, 4);
getGroundBody().createFixture(shape, 0.0f);
}
{
PolygonShape shape = new PolygonShape();
Vec2[] vertices =
new Vec2[] {new Vec2(-40, 40), new Vec2(40, 40), new Vec2(40, 60), new Vec2(-40, 60)};
shape.set(vertices, 4);
getGroundBody().createFixture(shape, 0.0f);
}
}
m_world.setParticleRadius(0.5f);
m_lastGroup = null;
m_drawing = true;
m_groupFlags = 0;
}
public override void initTest(bool deserialized)
{
{
BodyDef bd = new BodyDef();
bd.position.set(0.0f, 0.0f);
Body body = m_world.createBody(bd);
EdgeShape edge = new EdgeShape();
edge.set(new Vec2(-10.0f, 0.0f), new Vec2(10.0f, 0.0f));
body.createFixture(edge, 0.0f);
PolygonShape shape = new PolygonShape();
shape.setAsBox(0.2f, 1.0f, new Vec2(0.5f, 1.0f), 0.0f);
body.createFixture(shape, 0.0f);
}
{
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.position.set(0.0f, 4.0f);
PolygonShape box = new PolygonShape();
box.setAsBox(2.0f, 0.1f);
m_body = m_world.createBody(bd);
m_body.createFixture(box, 1.0f);
box.setAsBox(0.25f, 0.25f);
// m_x = RandomFloat(-1.0f, 1.0f);
m_x = -0.06530577f;
bd.position.set(m_x, 10.0f);
bd.bullet = true;
m_bullet = m_world.createBody(bd);
m_bullet.createFixture(box, 100.0f);
m_bullet.setLinearVelocity(new Vec2(0.0f, -50.0f));
}
}
public override void initTest(bool argDeserialized)
{
{
BodyDef bd = new BodyDef();
bd.position.set(0.0f, 0.0f);
Body body = getWorld().createBody(bd);
EdgeShape shape = new EdgeShape();
shape.set(new Vec2(-10.0f, 0.0f), new Vec2(10.0f, 0.0f));
body.createFixture(shape, 0.0f);
PolygonShape pshape = new PolygonShape();
pshape.setAsBox(0.2f, 1.0f, new Vec2(0.5f, 1.0f), 0.0f);
body.createFixture(pshape, 0.0f);
}
m_poly = new PolygonShape();
m_poly.setAsBox(2.0f, 0.1f);
m_circle = new CircleShape();
m_circle.m_p.setZero();
m_circle.m_radius = 0.5f;
BodyDef bd2 = new BodyDef();
bd2.type = BodyType.DYNAMIC;
bd2.position.set(0.0f, 20.0f);
m_body = getWorld().createBody(bd2);
currFixture = m_body.createFixture(m_poly, 1.0f);
m_angularVelocity = (float) _random.NextDouble()*100 - 50;
m_angularVelocity = 33.468121f;
m_body.setLinearVelocity(new Vec2(0.0f, -100.0f));
m_body.setAngularVelocity(m_angularVelocity);
TimeOfImpact.toiCalls = 0;
TimeOfImpact.toiIters = 0;
TimeOfImpact.toiMaxIters = 0;
TimeOfImpact.toiRootIters = 0;
TimeOfImpact.toiMaxRootIters = 0;
}
public override void initTest(bool argDeserialized)
{
{
BodyDef bd = new BodyDef();
Body ground = getWorld().createBody(bd);
EdgeShape shape = new EdgeShape();
shape.set(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
ground.createFixture(shape, 0.0f);
}
BodyDef bd2 = new BodyDef();
bd2.type = BodyType.DYNAMIC;
bd2.position.set(0.0f, 10.0f);
m_body = getWorld().createBody(bd2);
PolygonShape shape2 = new PolygonShape();
shape2.setAsBox(4.0f, 4.0f, new Vec2(0.0f, 0.0f), 0.0f);
m_fixture1 = m_body.createFixture(shape2, 10.0f);
m_fixture2 = null;
}
public override void initTest(bool deserialized)
{
{
EdgeShape shape = new EdgeShape();
shape.set(new Vec2(-20.0f, 0.0f), new Vec2(20.0f, 0.0f));
FixtureDef fd = new FixtureDef();
fd.shape = shape;
getGroundBody().createFixture(fd);
}
// Define motorized body
{
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.position.set(0.0f, 8.0f);
Body body = getWorld().createBody(bd);
PolygonShape shape = new PolygonShape();
shape.setAsBox(2.0f, 0.5f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.friction = 0.6f;
fd.density = 2.0f;
body.createFixture(fd);
MotorJointDef mjd = new MotorJointDef();
mjd.initialize(getGroundBody(), body);
mjd.maxForce = 1000.0f;
mjd.maxTorque = 1000.0f;
m_joint = (MotorJoint) m_world.createJoint(mjd);
}
m_go = false;
m_time = 0.0f;
}
public override void initTest(bool deserialized)
{
{
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);
m_world.setParticleDamping(0.2f);
{
PolygonShape shape = new PolygonShape();
shape.setAsBox(8, 10, new Vec2(-12, 10.1f), 0);
ParticleGroupDef pd = new ParticleGroupDef();
pd.shape = shape;
m_world.createParticleGroup(pd);
}
}
public override void initTest(bool argDeserialized)
{
if (argDeserialized)
{
return;
}
m_offset.set(0.0f, 8.0f);
m_motorSpeed = 2.0f;
m_motorOn = true;
Vec2 pivot = new Vec2(0.0f, 0.8f);
// Ground
{
BodyDef bd = new BodyDef();
Body ground = getWorld().createBody(bd);
EdgeShape shape = new EdgeShape();
shape.set(new Vec2(-50.0f, 0.0f), new Vec2(50.0f, 0.0f));
ground.createFixture(shape, 0.0f);
shape.set(new Vec2(-50.0f, 0.0f), new Vec2(-50.0f, 10.0f));
ground.createFixture(shape, 0.0f);
shape.set(new Vec2(50.0f, 0.0f), new Vec2(50.0f, 10.0f));
ground.createFixture(shape, 0.0f);
}
// Balls
for (int i = 0; i < 40; ++i)
{
CircleShape shape = new CircleShape();
shape.m_radius = 0.25f;
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.position.set(-40.0f + 2.0f*i, 0.5f);
Body body = getWorld().createBody(bd);
body.createFixture(shape, 1.0f);
}
// Chassis
{
PolygonShape shape = new PolygonShape();
shape.setAsBox(2.5f, 1.0f);
FixtureDef sd = new FixtureDef();
sd.density = 1.0f;
sd.shape = shape;
sd.filter.groupIndex = -1;
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.position.set(pivot);
bd.position.addLocal(m_offset);
m_chassis = getWorld().createBody(bd);
m_chassis.createFixture(sd);
}
{
CircleShape shape = new CircleShape();
shape.m_radius = 1.6f;
FixtureDef sd = new FixtureDef();
sd.density = 1.0f;
sd.shape = shape;
sd.filter.groupIndex = -1;
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.position.set(pivot);
bd.position.addLocal(m_offset);
m_wheel = getWorld().createBody(bd);
m_wheel.createFixture(sd);
}
{
RevoluteJointDef jd = new RevoluteJointDef();
jd.initialize(m_wheel, m_chassis, pivot.add(m_offset));
jd.collideConnected = false;
jd.motorSpeed = m_motorSpeed;
jd.maxMotorTorque = 400.0f;
jd.enableMotor = m_motorOn;
m_motorJoint = (RevoluteJoint) getWorld().createJoint(jd);
}
Vec2 wheelAnchor;
wheelAnchor = pivot.add(new Vec2(0.0f, -0.8f));
createLeg(-1.0f, wheelAnchor);
createLeg(1.0f, wheelAnchor);
m_wheel.setTransform(m_wheel.getPosition(), 120.0f*MathUtils.PI/180.0f);
createLeg(-1.0f, wheelAnchor);
createLeg(1.0f, wheelAnchor);
m_wheel.setTransform(m_wheel.getPosition(), -120.0f*MathUtils.PI/180.0f);
createLeg(-1.0f, wheelAnchor);
createLeg(1.0f, wheelAnchor);
}
public override void initTest(bool deserialized)
{
if (deserialized)
{
return;
}
{
BodyDef bd = new BodyDef();
bd.position.set(0.0f, 0.0f);
Body body = getWorld().createBody(bd);
EdgeShape shape = new EdgeShape();
shape.set(new Vec2(50.0f, 0.0f), new Vec2(-50.0f, 0.0f));
body.createFixture(shape, 0.0f);
}
{
CircleShape circle1 = new CircleShape();
circle1.m_radius = 0.5f;
circle1.m_p.set(-0.5f, 0.5f);
CircleShape circle2 = new CircleShape();
;
circle2.m_radius = 0.5f;
circle2.m_p.set(0.5f, 0.5f);
for (int i = 0; i < 10; ++i)
{
float x = MathUtils.randomFloat(-0.1f, 0.1f);
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.position.set(x + 5.0f, 1.05f + 2.5f*i);
bd.angle = MathUtils.randomFloat(-MathUtils.PI, MathUtils.PI);
Body body = getWorld().createBody(bd);
body.createFixture(circle1, 2.0f);
body.createFixture(circle2, 0.0f);
}
}
{
PolygonShape polygon1 = new PolygonShape();
polygon1.setAsBox(0.25f, 0.5f);
PolygonShape polygon2 = new PolygonShape();
polygon2.setAsBox(0.25f, 0.5f, new Vec2(0.0f, -0.5f), 0.5f*MathUtils.PI);
for (int i = 0; i < 10; ++i)
{
float x = MathUtils.randomFloat(-0.1f, 0.1f);
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.position.set(x - 5.0f, 1.05f + 2.5f*i);
bd.angle = MathUtils.randomFloat(-MathUtils.PI, MathUtils.PI);
Body body = getWorld().createBody(bd);
body.createFixture(polygon1, 2.0f);
body.createFixture(polygon2, 2.0f);
}
}
{
Transform xf1 = new Transform();
xf1.q.set(0.3524f*MathUtils.PI);
Rot.mulToOut(xf1.q, new Vec2(1.0f, 0.0f), ref xf1.p);
Vec2[] vertices = new Vec2[3];
PolygonShape triangle1 = new PolygonShape();
vertices[0] = Transform.mul(xf1, new Vec2(-1.0f, 0.0f));
vertices[1] = Transform.mul(xf1, new Vec2(1.0f, 0.0f));
vertices[2] = Transform.mul(xf1, new Vec2(0.0f, 0.5f));
triangle1.set(vertices, 3);
Transform xf2 = new Transform();
xf2.q.set(-0.3524f*MathUtils.PI);
Rot.mulToOut(xf2.q, new Vec2(-1.0f, 0.0f), ref xf2.p);
PolygonShape triangle2 = new PolygonShape();
vertices[0] = Transform.mul(xf2, new Vec2(-1.0f, 0.0f));
vertices[1] = Transform.mul(xf2, new Vec2(1.0f, 0.0f));
vertices[2] = Transform.mul(xf2, new Vec2(0.0f, 0.5f));
triangle2.set(vertices, 3);
for (int i = 0; i < 10; ++i)
{
float x = MathUtils.randomFloat(-0.1f, 0.1f);
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.position.set(x, 2.05f + 2.5f*i);
bd.angle = 0.0f;
Body body = getWorld().createBody(bd);
body.createFixture(triangle1, 2.0f);
body.createFixture(triangle2, 2.0f);
}
}
{
PolygonShape bottom = new PolygonShape();
bottom.setAsBox(1.5f, 0.15f);
PolygonShape left = new PolygonShape();
left.setAsBox(0.15f, 2.7f, new Vec2(-1.45f, 2.35f), 0.2f);
PolygonShape right = new PolygonShape();
right.setAsBox(0.15f, 2.7f, new Vec2(1.45f, 2.35f), -0.2f);
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.position.set(0.0f, 2.0f);
Body body = getWorld().createBody(bd);
body.createFixture(bottom, 4.0f);
body.createFixture(left, 4.0f);
body.createFixture(right, 4.0f);
}
}
public override void initTest(bool argDeserialized)
{
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = getWorld().createBody(bd);
EdgeShape shape = new EdgeShape();
shape.set(new Vec2(50.0f, 0.0f), new Vec2(-50.0f, 0.0f));
ground.createFixture(shape, 0.0f);
}
{
CircleShape circle1 = new CircleShape();
circle1.m_radius = 1.0f;
PolygonShape box = new PolygonShape();
box.setAsBox(0.5f, 5.0f);
CircleShape circle2 = new CircleShape();
circle2.m_radius = 2.0f;
BodyDef bd1 = new BodyDef();
bd1.type = BodyType.STATIC;
bd1.position.set(10.0f, 9.0f);
Body body1 = m_world.createBody(bd1);
body1.createFixture(circle1, 5.0f);
BodyDef bd2 = new BodyDef();
bd2.type = BodyType.DYNAMIC;
bd2.position.set(10.0f, 8.0f);
Body body2 = m_world.createBody(bd2);
body2.createFixture(box, 5.0f);
BodyDef bd3 = new BodyDef();
bd3.type = BodyType.DYNAMIC;
bd3.position.set(10.0f, 6.0f);
Body body3 = m_world.createBody(bd3);
body3.createFixture(circle2, 5.0f);
RevoluteJointDef jd1 = new RevoluteJointDef();
jd1.initialize(body2, body1, bd1.position);
Joint joint1 = m_world.createJoint(jd1);
RevoluteJointDef jd2 = new RevoluteJointDef();
jd2.initialize(body2, body3, bd3.position);
Joint joint2 = m_world.createJoint(jd2);
GearJointDef jd4 = new GearJointDef();
jd4.bodyA = body1;
jd4.bodyB = body3;
jd4.joint1 = joint1;
jd4.joint2 = joint2;
jd4.ratio = circle2.m_radius/circle1.m_radius;
m_world.createJoint(jd4);
}
{
CircleShape circle1 = new CircleShape();
circle1.m_radius = 1.0f;
CircleShape circle2 = new CircleShape();
circle2.m_radius = 2.0f;
PolygonShape box = new PolygonShape();
box.setAsBox(0.5f, 5.0f);
BodyDef bd1 = new BodyDef();
bd1.type = BodyType.DYNAMIC;
bd1.position.set(-3.0f, 12.0f);
Body body1 = m_world.createBody(bd1);
body1.createFixture(circle1, 5.0f);
RevoluteJointDef jd1 = new RevoluteJointDef();
jd1.bodyA = ground;
jd1.bodyB = body1;
ground.getLocalPointToOut(bd1.position, ref jd1.localAnchorA);
body1.getLocalPointToOut(bd1.position, ref jd1.localAnchorB);
jd1.referenceAngle = body1.getAngle() - ground.getAngle();
m_joint1 = (RevoluteJoint) m_world.createJoint(jd1);
BodyDef bd2 = new BodyDef();
bd2.type = BodyType.DYNAMIC;
bd2.position.set(0.0f, 12.0f);
Body body2 = m_world.createBody(bd2);
body2.createFixture(circle2, 5.0f);
RevoluteJointDef jd2 = new RevoluteJointDef();
jd2.initialize(ground, body2, bd2.position);
m_joint2 = (RevoluteJoint) m_world.createJoint(jd2);
BodyDef bd3 = new BodyDef();
bd3.type = BodyType.DYNAMIC;
bd3.position.set(2.5f, 12.0f);
Body body3 = m_world.createBody(bd3);
body3.createFixture(box, 5.0f);
PrismaticJointDef jd3 = new PrismaticJointDef();
jd3.initialize(ground, body3, bd3.position, new Vec2(0.0f, 1.0f));
jd3.lowerTranslation = -5.0f;
jd3.upperTranslation = 5.0f;
jd3.enableLimit = true;
m_joint3 = (PrismaticJoint) m_world.createJoint(jd3);
GearJointDef jd4 = new GearJointDef();
jd4.bodyA = body1;
jd4.bodyB = body2;
jd4.joint1 = m_joint1;
jd4.joint2 = m_joint2;
jd4.ratio = circle2.m_radius/circle1.m_radius;
m_joint4 = (GearJoint) m_world.createJoint(jd4);
GearJointDef jd5 = new GearJointDef();
jd5.bodyA = body2;
jd5.bodyB = body3;
jd5.joint1 = m_joint2;
jd5.joint2 = m_joint3;
jd5.ratio = 1f/circle2.m_radius;
m_joint5 = (GearJoint) m_world.createJoint(jd5);
}
}
public override void initTest(bool argDeserialized)
{
// Ground body
{
BodyDef bd = new BodyDef();
Body ground = getWorld().createBody(bd);
EdgeShape shape = new EdgeShape();
shape.set(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
ground.createFixture(shape, 0.0f);
}
{
Vec2[] vertices = new Vec2[3];
vertices[0] = new Vec2(-0.5f, 0.0f);
vertices[1] = new Vec2(0.5f, 0.0f);
vertices[2] = new Vec2(0.0f, 1.5f);
m_polygons[0] = new PolygonShape();
m_polygons[0].set(vertices, 3);
}
{
Vec2[] vertices = new Vec2[3];
vertices[0] = new Vec2(-0.1f, 0.0f);
vertices[1] = new Vec2(0.1f, 0.0f);
vertices[2] = new Vec2(0.0f, 1.5f);
m_polygons[1] = new PolygonShape();
m_polygons[1].set(vertices, 3);
}
{
float w = 1.0f;
float b = w/(2.0f + MathUtils.sqrt(2.0f));
float s = MathUtils.sqrt(2.0f)*b;
Vec2[] vertices = new Vec2[8];
vertices[0] = new Vec2(0.5f*s, 0.0f);
vertices[1] = new Vec2(0.5f*w, b);
vertices[2] = new Vec2(0.5f*w, b + s);
vertices[3] = new Vec2(0.5f*s, w);
vertices[4] = new Vec2(-0.5f*s, w);
vertices[5] = new Vec2(-0.5f*w, b + s);
vertices[6] = new Vec2(-0.5f*w, b);
vertices[7] = new Vec2(-0.5f*s, 0.0f);
m_polygons[2] = new PolygonShape();
m_polygons[2].set(vertices, 8);
}
{
m_polygons[3] = new PolygonShape();
m_polygons[3].setAsBox(0.5f, 0.5f);
}
{
m_circle = new CircleShape();
m_circle.m_radius = 0.5f;
}
m_bodyIndex = 0;
}
public override void initTest(bool deserialized)
{
if (deserialized)
{
return;
}
// Ground
{
EdgeShape shape = new EdgeShape();
shape.set(new Vec2(-20.0f, 0.0f), new Vec2(20.0f, 0.0f));
getGroundBody().createFixture(shape, 0.0f);
}
// Platform
{
BodyDef bd = new BodyDef();
bd.position.set(-5.0f, 5.0f);
Body body = getWorld().createBody(bd);
PolygonShape shape = new PolygonShape();
shape.setAsBox(10.0f, 0.5f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.friction = 0.8f;
m_platform = body.createFixture(fd);
}
// Boxes
for (int i = 0; i < 5; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.position.set(-10.0f + 2.0f*i, 7.0f);
Body body = m_world.createBody(bd);
PolygonShape shape = new PolygonShape();
shape.setAsBox(0.5f, 0.5f);
body.createFixture(shape, 20.0f);
}
}
public override void initTest(bool deserialized)
{
if (deserialized)
{
return;
}
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = getWorld().createBody(bd);
EdgeShape shape = new EdgeShape();
shape.set(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
ground.createFixture(shape, 0.0f);
}
{
PolygonShape shape = new PolygonShape();
shape.setAsBox(2.0f, 0.5f);
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.position.set(-10.0f, 10.0f);
bd.angle = 0.5f*MathUtils.PI;
bd.allowSleep = false;
Body body = getWorld().createBody(bd);
body.createFixture(shape, 5.0f);
PrismaticJointDef pjd = new PrismaticJointDef();
// Bouncy limit
Vec2 axis = new Vec2(2.0f, 1.0f);
axis.normalize();
pjd.initialize(ground, body, new Vec2(0.0f, 0.0f), axis);
// Non-bouncy limit
// pjd.Initialize(ground, body, Vec2(-10.0f, 10.0f), Vec2(1.0f, 0.0f));
pjd.motorSpeed = 10.0f;
pjd.maxMotorForce = 10000.0f;
pjd.enableMotor = true;
pjd.lowerTranslation = 0.0f;
pjd.upperTranslation = 20.0f;
pjd.enableLimit = true;
m_joint = (PrismaticJoint) getWorld().createJoint(pjd);
}
}
public override void initTest(bool argDeserialized)
{
if (argDeserialized)
{
return;
}
{
// Floor
FixtureDef fd = new FixtureDef();
PolygonShape sd = new PolygonShape();
sd.setAsBox(50.0f, 10.0f);
fd.shape = sd;
BodyDef bd = new BodyDef();
bd.position = new Vec2(0.0f, -10.0f);
getWorld().createBody(bd).createFixture(fd);
}
{
// Platforms
for (int i = 0; i < 4; i++)
{
FixtureDef fd = new FixtureDef();
PolygonShape sd = new PolygonShape();
sd.setAsBox(15.0f, 0.125f);
fd.shape = sd;
BodyDef bd = new BodyDef();
bd.position = new Vec2(0.0f, 5f + 5f*i);
getWorld().createBody(bd).createFixture(fd);
}
}
{
FixtureDef fd = new FixtureDef();
PolygonShape sd = new PolygonShape();
sd.setAsBox(0.125f, 2f);
fd.shape = sd;
fd.density = 25.0f;
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
float friction = .5f;
int numPerRow = 25;
for (int i = 0; i < 4; ++i)
{
for (int j = 0; j < numPerRow; j++)
{
fd.friction = friction;
bd.position = new Vec2(-14.75f + j*(29.5f/(numPerRow - 1)), 7.3f + 5f*i);
if (i == 2 && j == 0)
{
bd.angle = -0.1f;
bd.position.x += .1f;
}
else if (i == 3 && j == numPerRow - 1)
{
bd.angle = .1f;
bd.position.x -= .1f;
}
else
bd.angle = 0f;
Body myBody = getWorld().createBody(bd);
myBody.createFixture(fd);
}
}
}
}
private void createLeg(float s, Vec2 wheelAnchor)
{
Vec2 p1 = new Vec2(5.4f*s, -6.1f);
Vec2 p2 = new Vec2(7.2f*s, -1.2f);
Vec2 p3 = new Vec2(4.3f*s, -1.9f);
Vec2 p4 = new Vec2(3.1f*s, 0.8f);
Vec2 p5 = new Vec2(6.0f*s, 1.5f);
Vec2 p6 = new Vec2(2.5f*s, 3.7f);
FixtureDef fd1 = new FixtureDef();
FixtureDef fd2 = new FixtureDef();
fd1.filter.groupIndex = -1;
fd2.filter.groupIndex = -1;
fd1.density = 1.0f;
fd2.density = 1.0f;
PolygonShape poly1 = new PolygonShape();
PolygonShape poly2 = new PolygonShape();
if (s > 0.0f)
{
Vec2[] vertices = new Vec2[3];
vertices[0] = p1;
vertices[1] = p2;
vertices[2] = p3;
poly1.set(vertices, 3);
vertices[0] = new Vec2();
vertices[1] = p5.sub(p4);
vertices[2] = p6.sub(p4);
poly2.set(vertices, 3);
}
else
{
Vec2[] vertices = new Vec2[3];
vertices[0] = p1;
vertices[1] = p3;
vertices[2] = p2;
poly1.set(vertices, 3);
vertices[0] = new Vec2();
vertices[1] = p6.sub(p4);
vertices[2] = p5.sub(p4);
poly2.set(vertices, 3);
}
fd1.shape = poly1;
fd2.shape = poly2;
BodyDef bd1 = new BodyDef(), bd2 = new BodyDef();
bd1.type = BodyType.DYNAMIC;
bd2.type = BodyType.DYNAMIC;
bd1.position = m_offset;
bd2.position = p4.add(m_offset);
bd1.angularDamping = 10.0f;
bd2.angularDamping = 10.0f;
Body body1 = getWorld().createBody(bd1);
Body body2 = getWorld().createBody(bd2);
body1.createFixture(fd1);
body2.createFixture(fd2);
DistanceJointDef djd = new DistanceJointDef();
// Using a soft distance constraint can reduce some jitter.
// It also makes the structure seem a bit more fluid by
// acting like a suspension system.
djd.dampingRatio = 0.5f;
djd.frequencyHz = 10.0f;
djd.initialize(body1, body2, p2.add(m_offset), p5.add(m_offset));
getWorld().createJoint(djd);
djd.initialize(body1, body2, p3.add(m_offset), p4.add(m_offset));
getWorld().createJoint(djd);
djd.initialize(body1, m_wheel, p3.add(m_offset), wheelAnchor.add(m_offset));
getWorld().createJoint(djd);
djd.initialize(body2, m_wheel, p6.add(m_offset), wheelAnchor.add(m_offset));
getWorld().createJoint(djd);
RevoluteJointDef rjd = new RevoluteJointDef();
rjd.initialize(body2, m_chassis, p4.add(m_offset));
getWorld().createJoint(rjd);
}
public override void initTest(bool deserialized)
{
if (deserialized)
{
return;
}
// Ground body
{
EdgeShape shape = new EdgeShape();
shape.set(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
FixtureDef sd = new FixtureDef();
sd.shape = shape;
sd.friction = 0.3f;
BodyDef bd = new BodyDef();
Body ground = getWorld().createBody(bd);
ground.createFixture(sd);
}
// Small triangle
Vec2[] vertices = new Vec2[3];
vertices[0] = new Vec2(-1.0f, 0.0f);
vertices[1] = new Vec2(1.0f, 0.0f);
vertices[2] = new Vec2(0.0f, 2.0f);
PolygonShape polygon = new PolygonShape();
polygon.set(vertices, 3);
FixtureDef triangleShapeDef = new FixtureDef();
triangleShapeDef.shape = polygon;
triangleShapeDef.density = 1.0f;
triangleShapeDef.filter.groupIndex = k_smallGroup;
triangleShapeDef.filter.categoryBits = k_triangleCategory;
triangleShapeDef.filter.maskBits = k_triangleMask;
BodyDef triangleBodyDef = new BodyDef();
triangleBodyDef.type = BodyType.DYNAMIC;
triangleBodyDef.position.set(-5.0f, 2.0f);
Body body1 = getWorld().createBody(triangleBodyDef);
body1.createFixture(triangleShapeDef);
// Large triangle (recycle definitions)
vertices[0].mulLocal(2.0f);
vertices[1].mulLocal(2.0f);
vertices[2].mulLocal(2.0f);
polygon.set(vertices, 3);
triangleShapeDef.filter.groupIndex = k_largeGroup;
triangleBodyDef.position.set(-5.0f, 6.0f);
triangleBodyDef.fixedRotation = true; // look at me!
Body body2 = getWorld().createBody(triangleBodyDef);
body2.createFixture(triangleShapeDef);
{
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.position.set(-5.0f, 10.0f);
Body body = getWorld().createBody(bd);
PolygonShape p = new PolygonShape();
p.setAsBox(0.5f, 1.0f);
body.createFixture(p, 1.0f);
PrismaticJointDef jd = new PrismaticJointDef();
jd.bodyA = body2;
jd.bodyB = body;
jd.enableLimit = true;
jd.localAnchorA.set(0.0f, 4.0f);
jd.localAnchorB.setZero();
jd.localAxisA.set(0.0f, 1.0f);
jd.lowerTranslation = -1.0f;
jd.upperTranslation = 1.0f;
getWorld().createJoint(jd);
}
// Small box
polygon.setAsBox(1.0f, 0.5f);
FixtureDef boxShapeDef = new FixtureDef();
boxShapeDef.shape = polygon;
boxShapeDef.density = 1.0f;
boxShapeDef.restitution = 0.1f;
boxShapeDef.filter.groupIndex = k_smallGroup;
boxShapeDef.filter.categoryBits = k_boxCategory;
boxShapeDef.filter.maskBits = k_boxMask;
BodyDef boxBodyDef = new BodyDef();
boxBodyDef.type = BodyType.DYNAMIC;
boxBodyDef.position.set(0.0f, 2.0f);
Body body3 = getWorld().createBody(boxBodyDef);
body3.createFixture(boxShapeDef);
// Large box (recycle definitions)
polygon.setAsBox(2.0f, 1.0f);
boxShapeDef.filter.groupIndex = k_largeGroup;
boxBodyDef.position.set(0.0f, 6.0f);
Body body4 = getWorld().createBody(boxBodyDef);
body4.createFixture(boxShapeDef);
// Small circle
CircleShape circle = new CircleShape();
circle.m_radius = 1.0f;
FixtureDef circleShapeDef = new FixtureDef();
circleShapeDef.shape = circle;
circleShapeDef.density = 1.0f;
circleShapeDef.filter.groupIndex = k_smallGroup;
circleShapeDef.filter.categoryBits = k_circleCategory;
circleShapeDef.filter.maskBits = k_circleMask;
BodyDef circleBodyDef = new BodyDef();
circleBodyDef.type = BodyType.DYNAMIC;
circleBodyDef.position.set(5.0f, 2.0f);
Body body5 = getWorld().createBody(circleBodyDef);
body5.createFixture(circleShapeDef);
// Large circle
circle.m_radius *= 2.0f;
circleShapeDef.filter.groupIndex = k_largeGroup;
circleBodyDef.position.set(5.0f, 6.0f);
Body body6 = getWorld().createBody(circleBodyDef);
body6.createFixture(circleShapeDef);
}
public override void initTest(bool deserialized)
{
{
BodyDef bd = new BodyDef();
Body ground = m_world.createBody(bd);
{
PolygonShape shape = new PolygonShape();
Vec2[] vertices =
new Vec2[] {new Vec2(-40, -10), new Vec2(40, -10), new Vec2(40, 0), new Vec2(-40, 0)};
shape.set(vertices, 4);
ground.createFixture(shape, 0.0f);
}
{
PolygonShape shape = new PolygonShape();
Vec2[] vertices =
new Vec2[] {new Vec2(-40, -1), new Vec2(-20, -1), new Vec2(-20, 20), new Vec2(-40, 30)};
shape.set(vertices, 4);
ground.createFixture(shape, 0.0f);
}
{
PolygonShape shape = new PolygonShape();
Vec2[] vertices =
new Vec2[] {new Vec2(20, -1), new Vec2(40, -1), new Vec2(40, 30), new Vec2(20, 20)};
shape.set(vertices, 4);
ground.createFixture(shape, 0.0f);
}
}
m_world.setParticleRadius(0.2f);
{
PolygonShape shape = new PolygonShape();
shape.setAsBox(20, 10, new Vec2(0, 10), 0);
ParticleGroupDef pd = new ParticleGroupDef();
pd.flags = flags;
pd.shape = shape;
m_world.createParticleGroup(pd);
}
{
BodyDef bd = new BodyDef();
bd.type = BodyType.KINEMATIC;
Body body = m_world.createBody(bd);
circle = body;
CircleShape shape = new CircleShape();
shape.m_p.set(0, 5);
shape.m_radius = 1;
body.createFixture(shape, 0.1f);
body.setLinearVelocity(new Vec2(-6, 0.0f));
}
{
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
Body body = m_world.createBody(bd);
PolygonShape shape = new PolygonShape();
shape.setAsBox(1, 1, new Vec2(-10, 5), 0);
body.createFixture(shape, 0.1f);
}
{
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
Body body = m_world.createBody(bd);
PolygonShape shape = new PolygonShape();
shape.setAsBox(1, 1, new Vec2(10, 5), 0.5f);
body.createFixture(shape, 0.1f);
}
{
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
Body body = m_world.createBody(bd);
EdgeShape shape = new EdgeShape();
shape.set(new Vec2(0, 20), new Vec2(1, 21));
body.createFixture(shape, 0.1f);
}
{
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
Body body = m_world.createBody(bd);
EdgeShape shape = new EdgeShape();
shape.set(new Vec2(3, 20), new Vec2(4, 21));
body.createFixture(shape, 0.1f);
}
{
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
Body body = m_world.createBody(bd);
EdgeShape shape = new EdgeShape();
shape.set(new Vec2(-3, 21), new Vec2(-2, 20));
body.createFixture(shape, 0.1f);
}
}
public override void initTest(bool deserialized)
{
{
BodyDef bd = new BodyDef();
Body ground = m_world.createBody(bd);
ChainShape shape = new ChainShape();
Vec2[] vertices =
new Vec2[] {new Vec2(-20, 0), new Vec2(20, 0), new Vec2(20, 40), new Vec2(-20, 40)};
shape.createLoop(vertices, 4);
ground.createFixture(shape, 0.0f);
}
m_world.setParticleRadius(0.15f);
{
PolygonShape shape = new PolygonShape();
shape.setAsBox(20, 4, new Vec2(0, 36), 0);
ParticleGroupDef pd = new ParticleGroupDef();
pd.flags = ParticleType.b2_tensileParticle | ParticleType.b2_viscousParticle;
pd.shape = shape;
m_world.createParticleGroup(pd);
}
{
BodyDef bd = new BodyDef();
Body body = m_world.createBody(bd);
EdgeShape shape = new EdgeShape();
shape.set(new Vec2(-20, 32), new Vec2(-12, 32));
body.createFixture(shape, 0.1f);
}
{
BodyDef bd = new BodyDef();
Body body = m_world.createBody(bd);
EdgeShape shape = new EdgeShape();
shape.set(new Vec2(-11, 32), new Vec2(20, 32));
body.createFixture(shape, 0.1f);
}
{
BodyDef bd = new BodyDef();
Body body = m_world.createBody(bd);
EdgeShape shape = new EdgeShape();
shape.set(new Vec2(-12, 32), new Vec2(-12, 28));
body.createFixture(shape, 0.1f);
}
{
BodyDef bd = new BodyDef();
Body body = m_world.createBody(bd);
EdgeShape shape = new EdgeShape();
shape.set(new Vec2(-11, 32), new Vec2(-11, 28));
body.createFixture(shape, 0.1f);
}
{
BodyDef bd = new BodyDef();
Body body = m_world.createBody(bd);
EdgeShape shape = new EdgeShape();
shape.set(new Vec2(-16, 24), new Vec2(8, 20));
body.createFixture(shape, 0.1f);
}
{
BodyDef bd = new BodyDef();
Body body = m_world.createBody(bd);
EdgeShape shape = new EdgeShape();
shape.set(new Vec2(16, 16), new Vec2(-8, 12));
body.createFixture(shape, 0.1f);
}
{
BodyDef bd = new BodyDef();
Body body = m_world.createBody(bd);
EdgeShape shape = new EdgeShape();
shape.set(new Vec2(-12, 8), new Vec2(-12, 0));
body.createFixture(shape, 0.1f);
}
{
BodyDef bd = new BodyDef();
Body body = m_world.createBody(bd);
EdgeShape shape = new EdgeShape();
shape.set(new Vec2(-4, 8), new Vec2(-4, 0));
body.createFixture(shape, 0.1f);
}
{
BodyDef bd = new BodyDef();
Body body = m_world.createBody(bd);
EdgeShape shape = new EdgeShape();
shape.set(new Vec2(4, 8), new Vec2(4, 0));
body.createFixture(shape, 0.1f);
}
{
BodyDef bd = new BodyDef();
Body body = m_world.createBody(bd);
EdgeShape shape = new EdgeShape();
shape.set(new Vec2(12, 8), new Vec2(12, 0));
body.createFixture(shape, 0.1f);
}
}
public override Shape clone()
{
PolygonShape shape = new PolygonShape();
shape.m_centroid.set(this.m_centroid);
for (int i = 0; i < shape.m_normals.Length; i++)
{
shape.m_normals[i].set(m_normals[i]);
shape.m_vertices[i].set(m_vertices[i]);
}
shape.setRadius(this.getRadius());
shape.m_count = this.m_count;
return shape;
}
public override void initTest(bool deserialized)
{
if (deserialized)
{
return;
}
getWorld().setGravity(new Vec2(0.0f, 0.0f));
float k_restitution = 0.4f;
Body ground;
{
BodyDef bd = new BodyDef();
bd.position.set(0.0f, 20.0f);
ground = getWorld().createBody(bd);
EdgeShape shape = new EdgeShape();
FixtureDef sd = new FixtureDef();
sd.shape = shape;
sd.density = 0.0f;
sd.restitution = k_restitution;
// Left vertical
shape.set(new Vec2(-20.0f, -20.0f), new Vec2(-20.0f, 20.0f));
ground.createFixture(sd);
// Right vertical
shape.set(new Vec2(20.0f, -20.0f), new Vec2(20.0f, 20.0f));
ground.createFixture(sd);
// Top horizontal
shape.set(new Vec2(-20.0f, 20.0f), new Vec2(20.0f, 20.0f));
ground.createFixture(sd);
// Bottom horizontal
shape.set(new Vec2(-20.0f, -20.0f), new Vec2(20.0f, -20.0f));
ground.createFixture(sd);
}
{
Transform xf1 = new Transform();
xf1.q.set(0.3524f*MathUtils.PI);
Rot.mulToOutUnsafe(xf1.q, new Vec2(1.0f, 0.0f), ref xf1.p);
Vec2[] vertices = new Vec2[3];
vertices[0] = Transform.mul(xf1, new Vec2(-1.0f, 0.0f));
vertices[1] = Transform.mul(xf1, new Vec2(1.0f, 0.0f));
vertices[2] = Transform.mul(xf1, new Vec2(0.0f, 0.5f));
PolygonShape poly1 = new PolygonShape();
poly1.set(vertices, 3);
FixtureDef sd1 = new FixtureDef();
sd1.shape = poly1;
sd1.density = 4.0f;
Transform xf2 = new Transform();
xf2.q.set(-0.3524f*MathUtils.PI);
Rot.mulToOut(xf2.q, new Vec2(-1.0f, 0.0f), ref xf2.p);
vertices[0] = Transform.mul(xf2, new Vec2(-1.0f, 0.0f));
vertices[1] = Transform.mul(xf2, new Vec2(1.0f, 0.0f));
vertices[2] = Transform.mul(xf2, new Vec2(0.0f, 0.5f));
PolygonShape poly2 = new PolygonShape();
poly2.set(vertices, 3);
FixtureDef sd2 = new FixtureDef();
sd2.shape = poly2;
sd2.density = 2.0f;
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.angularDamping = 2.0f;
bd.linearDamping = 0.5f;
bd.position.set(0.0f, 2.0f);
bd.angle = MathUtils.PI;
bd.allowSleep = false;
m_body = getWorld().createBody(bd);
m_body.createFixture(sd1);
m_body.createFixture(sd2);
}
{
PolygonShape shape = new PolygonShape();
shape.setAsBox(0.5f, 0.5f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 1.0f;
fd.friction = 0.3f;
for (int i = 0; i < 10; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.position.set(0.0f, 5.0f + 1.54f*i);
Body body = getWorld().createBody(bd);
body.createFixture(fd);
float gravity = 10.0f;
float I = body.getInertia();
float mass = body.getMass();
// For a circle: I = 0.5 * m * r * r ==> r = sqrt(2 * I / m)
float radius = MathUtils.sqrt(2.0f*I/mass);
FrictionJointDef jd = new FrictionJointDef();
jd.localAnchorA.setZero();
jd.localAnchorB.setZero();
jd.bodyA = ground;
jd.bodyB = body;
jd.collideConnected = true;
jd.maxForce = mass*gravity;
jd.maxTorque = mass*radius*gravity;
getWorld().createJoint(jd);
}
}
}
public override void initTest(bool deserialized)
{
if (deserialized)
{
return;
}
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = getWorld().createBody(bd);
EdgeShape shape = new EdgeShape();
shape.set(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
ground.createFixture(shape, 0.0f);
}
{
CircleShape shape = new CircleShape();
shape.m_radius = 0.5f;
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
RevoluteJointDef rjd = new RevoluteJointDef();
bd.position.set(-10f, 20.0f);
Body body = getWorld().createBody(bd);
body.createFixture(shape, 5.0f);
float w = 100.0f;
body.setAngularVelocity(w);
body.setLinearVelocity(new Vec2(-8.0f*w, 0.0f));
rjd.initialize(ground, body, new Vec2(-10.0f, 12.0f));
rjd.motorSpeed = -1.0f*MathUtils.PI;
rjd.maxMotorTorque = 10000.0f;
rjd.enableMotor = false;
rjd.lowerAngle = -0.25f*MathUtils.PI;
rjd.upperAngle = 0.5f*MathUtils.PI;
rjd.enableLimit = true;
rjd.collideConnected = true;
m_joint = (RevoluteJoint) getWorld().createJoint(rjd);
}
{
CircleShape circle_shape = new CircleShape();
circle_shape.m_radius = 3.0f;
BodyDef circle_bd = new BodyDef();
circle_bd.type = BodyType.DYNAMIC;
circle_bd.position.set(5.0f, 30.0f);
FixtureDef fd = new FixtureDef();
fd.density = 5.0f;
fd.filter.maskBits = 1;
fd.shape = circle_shape;
Body ball = m_world.createBody(circle_bd);
ball.createFixture(fd);
PolygonShape polygon_shape = new PolygonShape();
polygon_shape.setAsBox(10.0f, 0.2f, new Vec2(-10.0f, 0.0f), 0.0f);
BodyDef polygon_bd = new BodyDef();
polygon_bd.position.set(20.0f, 10.0f);
polygon_bd.type = BodyType.DYNAMIC;
polygon_bd.bullet = true;
Body polygon_body = m_world.createBody(polygon_bd);
polygon_body.createFixture(polygon_shape, 2.0f);
RevoluteJointDef rjd = new RevoluteJointDef();
rjd.initialize(ground, polygon_body, new Vec2(20.0f, 10.0f));
rjd.lowerAngle = -0.25f*MathUtils.PI;
rjd.upperAngle = 0.0f*MathUtils.PI;
rjd.enableLimit = true;
m_world.createJoint(rjd);
}
// Tests mass computation of a small object far from the origin
{
BodyDef bodyDef = new BodyDef();
bodyDef.type = BodyType.DYNAMIC;
Body body = m_world.createBody(bodyDef);
PolygonShape polyShape = new PolygonShape();
Vec2[] verts = new Vec2[3];
verts[0] = new Vec2(17.63f, 36.31f);
verts[1] = new Vec2(17.52f, 36.69f);
verts[2] = new Vec2(17.19f, 36.36f);
polyShape.set(verts, 3);
FixtureDef polyFixtureDef = new FixtureDef();
polyFixtureDef.shape = polyShape;
polyFixtureDef.density = 1;
body.createFixture(polyFixtureDef); // assertion hits inside here
}
}
public override void initTest(bool deserialized)
{
if (deserialized)
{
return;
}
Body pendulum;
Body pendulumBase;
Body ground;
{
CircleShape circleShape = new CircleShape();
circleShape.m_radius = 1;
Shape shape = circleShape;
BodyDef bodyDef = new BodyDef();
bodyDef.type = BodyType.DYNAMIC;
bodyDef.position.set(-5, 0);
bodyDef.allowSleep = false;
pendulum = getWorld().createBody(bodyDef);
pendulum.createFixture(shape, 1);
}
{
PolygonShape shape = new PolygonShape();
shape.setAsBox(1, 1);
BodyDef bodyDef = new BodyDef();
bodyDef.type = BodyType.DYNAMIC;
bodyDef.position.set(0, 2);
bodyDef.allowSleep = false;
pendulumBase = getWorld().createBody(bodyDef);
pendulumBase.createFixture(shape, 1);
}
{
PolygonShape shape = new PolygonShape();
shape.setAsBox(3, 1);
BodyDef bodyDef = new BodyDef();
bodyDef.type = BodyType.STATIC;
ground = getWorld().createBody(bodyDef);
ground.createFixture(shape, 0);
}
RevoluteJointDef jointDef = new RevoluteJointDef();
if (switchBodiesInJoint)
jointDef.initialize(pendulum, pendulumBase, new Vec2(0, 0));
else
jointDef.initialize(pendulumBase, pendulum, new Vec2(0, 0));
getWorld().createJoint(jointDef);
}
public void makeDomino(float x, float y, bool horizontal, World world)
{
PolygonShape sd = new PolygonShape();
sd.setAsBox(.5f*dwidth, .5f*dheight);
FixtureDef fd = new FixtureDef();
fd.shape = sd;
fd.density = ddensity;
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
fd.friction = dfriction;
fd.restitution = 0.65f;
bd.position = new Vec2(x, y);
bd.angle = horizontal ? (float) (System.Math.PI/2.0) : 0f;
Body myBody = getWorld().createBody(bd);
myBody.createFixture(fd);
}
public override void initTest(bool argDeserialized)
{
if (argDeserialized)
{
return;
}
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = getWorld().createBody(bd);
EdgeShape shape = new EdgeShape();
shape.set(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
ground.createFixture(shape, 0.0f);
}
{
PolygonShape shape = new PolygonShape();
shape.setAsBox(0.5f, 0.125f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 20.0f;
WeldJointDef jd = new WeldJointDef();
Body prevBody = ground;
for (int i = 0; i < e_count; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.position.set(-14.5f + 1.0f*i, 5.0f);
Body body = getWorld().createBody(bd);
body.createFixture(fd);
Vec2 anchor = new Vec2(-15.0f + 1.0f*i, 5.0f);
jd.initialize(prevBody, body, anchor);
getWorld().createJoint(jd);
prevBody = body;
}
}
{
PolygonShape shape = new PolygonShape();
shape.setAsBox(1f, 0.125f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 20.0f;
WeldJointDef jd = new WeldJointDef();
jd.frequencyHz = 5f;
jd.dampingRatio = .7f;
Body prevBody = ground;
for (int i = 0; i < 3; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.position.set(-14.0f + 2.0f*i, 15.0f);
Body body = getWorld().createBody(bd);
body.createFixture(fd);
Vec2 anchor = new Vec2(-15.0f + 2.0f*i, 15.0f);
jd.initialize(prevBody, body, anchor);
getWorld().createJoint(jd);
prevBody = body;
}
}
{
PolygonShape shape = new PolygonShape();
shape.setAsBox(0.5f, 0.125f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 20.0f;
WeldJointDef jd = new WeldJointDef();
Body prevBody = ground;
for (int i = 0; i < e_count; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.position.set(-4.5f + 1.0f*i, 5.0f);
Body body = getWorld().createBody(bd);
body.createFixture(fd);
if (i > 0)
{
Vec2 anchor = new Vec2(-5.0f + 1.0f*i, 5.0f);
jd.initialize(prevBody, body, anchor);
getWorld().createJoint(jd);
}
prevBody = body;
}
}
{
PolygonShape shape = new PolygonShape();
shape.setAsBox(0.5f, 0.125f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 20.0f;
WeldJointDef jd = new WeldJointDef();
jd.frequencyHz = 8f;
jd.dampingRatio = .7f;
Body prevBody = ground;
for (int i = 0; i < e_count; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.position.set(5.5f + 1.0f*i, 10.0f);
Body body = getWorld().createBody(bd);
body.createFixture(fd);
if (i > 0)
{
Vec2 anchor = new Vec2(5.0f + 1.0f*i, 10.0f);
jd.initialize(prevBody, body, anchor);
getWorld().createJoint(jd);
}
prevBody = body;
}
}
for (int i = 0; i < 2; ++i)
{
Vec2[] vertices = new Vec2[3];
vertices[0] = new Vec2(-0.5f, 0.0f);
vertices[1] = new Vec2(0.5f, 0.0f);
vertices[2] = new Vec2(0.0f, 1.5f);
PolygonShape shape = new PolygonShape();
shape.set(vertices, 3);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 1.0f;
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.position.set(-8.0f + 8.0f*i, 12.0f);
Body body = getWorld().createBody(bd);
body.createFixture(fd);
}
for (int i = 0; i < 2; ++i)
{
CircleShape shape = new CircleShape();
shape.m_radius = 0.5f;
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 1.0f;
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.position.set(-6.0f + 6.0f*i, 10.0f);
Body body = getWorld().createBody(bd);
body.createFixture(fd);
}
}
public override void initTest(bool argDeserialized)
{
if (argDeserialized)
{
return;
}
{
// Floor
PolygonShape sd = new PolygonShape();
sd.setAsBox(50.0f, 10.0f);
BodyDef bd = new BodyDef();
bd.position = new Vec2(0.0f, -10.0f);
getWorld().createBody(bd).createFixture(sd, 0f);
}
{
ddensity = 10f;
// Make bullet
PolygonShape sd = new PolygonShape();
sd.setAsBox(.7f, .7f);
FixtureDef fd = new FixtureDef();
fd.density = 35f;
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
fd.shape = sd;
fd.friction = 0f;
fd.restitution = 0.85f;
bd.bullet = true;
// bd.addShape(sd);
bd.position = new Vec2(30f, 50f);
Body b = getWorld().createBody(bd);
b.createFixture(fd);
b.setLinearVelocity(new Vec2(-25f, -25f));
b.setAngularVelocity(6.7f);
fd.density = 25f;
bd.position = new Vec2(-30, 25f);
b = getWorld().createBody(bd);
b.createFixture(fd);
b.setLinearVelocity(new Vec2(35f, -10f));
b.setAngularVelocity(-8.3f);
}
{
float currX;
// Make base
for (int i = 0; i < baseCount; ++i)
{
currX = i*1.5f*dheight - (1.5f*dheight*baseCount/2f);
makeDomino(currX, dheight/2.0f, false, m_world);
makeDomino(currX, dheight + dwidth/2.0f, true, m_world);
}
currX = baseCount*1.5f*dheight - (1.5f*dheight*baseCount/2f);
// Make 'I's
for (int j = 1; j < baseCount; ++j)
{
if (j > 3)
ddensity *= .8f;
float currY = dheight*.5f + (dheight + 2f*dwidth)*.99f*j; // y at center of 'I'
// structure
for (int i = 0; i < baseCount - j; ++i)
{
currX = i*1.5f*dheight - (1.5f*dheight*(baseCount - j)/2f); // +
// parent.random(-.05f,
// .05f);
ddensity *= 2.5f;
if (i == 0)
{
makeDomino(currX - (1.25f*dheight) + .5f*dwidth, currY - dwidth, false, m_world);
}
if (i == baseCount - j - 1)
{
// if (j != 1) //djm: why is this here? it makes it off balance
makeDomino(currX + (1.25f*dheight) - .5f*dwidth, currY - dwidth, false, m_world);
}
ddensity /= 2.5f;
makeDomino(currX, currY, false, m_world);
makeDomino(currX, currY + .5f*(dwidth + dheight), true, m_world);
makeDomino(currX, currY - .5f*(dwidth + dheight), true, m_world);
}
}
}
}
public override void initTest(bool argDeserialized)
{
// Ground body
{
BodyDef bd = new BodyDef();
Body ground = getWorld().createBody(bd);
EdgeShape shape = new EdgeShape();
shape.set(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
ground.createFixture(shape, 0.0f);
}
// Breakable dynamic body
{
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.position.set(0.0f, 40.0f);
bd.angle = 0.25f*MathUtils.PI;
m_body1 = getWorld().createBody(bd);
m_shape1 = new PolygonShape();
m_shape1.setAsBox(0.5f, 0.5f, new Vec2(-0.5f, 0.0f), 0.0f);
m_piece1 = m_body1.createFixture(m_shape1, 1.0f);
m_shape2 = new PolygonShape();
m_shape2.setAsBox(0.5f, 0.5f, new Vec2(0.5f, 0.0f), 0.0f);
m_piece2 = m_body1.createFixture(m_shape2, 1.0f);
}
m_break = false;
m_broke = false;
}
public override 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;
}