public LineJoint()
{
Body ground = null;
{
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
BodyDef bd = new BodyDef();
ground = _world.CreateBody(bd);
ground.CreateFixture(shape, 0.0f);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.5f, 2.0f);
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(0.0f, 7.0f);
Body body = _world.CreateBody(bd);
body.CreateFixture(shape, 1.0f);
LineJointDef jd = new LineJointDef();
Vector2 axis = new Vector2(2.0f, 1.0f);
axis.Normalize();
jd.Initialize(ground, body, new Vector2(0.0f, 8.5f), axis);
jd.motorSpeed = 0.0f;
jd.maxMotorForce = 100.0f;
jd.enableMotor = true;
jd.lowerTranslation = -4.0f;
jd.upperTranslation = 4.0f;
jd.enableLimit = true;
_world.CreateJoint(jd);
}
}
public Breakable()
{
// Ground body
{
BodyDef bd = new BodyDef();
Body ground = _world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
// Breakable dynamic body
{
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(0.0f, 40.0f);
bd.angle = 0.25f * Settings.b2_pi;
_body1 = _world.CreateBody(bd);
_shape1 = new PolygonShape();
_shape1.SetAsBox(0.5f, 0.5f, new Vector2(-0.5f, 0.0f), 0.0f);
_piece1 = _body1.CreateFixture(_shape1, 1.0f);
_shape2 = new PolygonShape();
_shape2.SetAsBox(0.5f, 0.5f, new Vector2(0.5f, 0.0f), 0.0f);
_piece2 = _body1.CreateFixture(_shape2, 1.0f);
}
_break = false;
_broke = false;
}
VaryingRestitution()
{
{
BodyDef bd = new BodyDef();
Body ground = _world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
{
CircleShape shape = new CircleShape();
shape._radius = 1.0f;
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 1.0f;
float[] restitution = new float[7] {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 = new Vector2(-10.0f + 3.0f * i, 20.0f);
Body body = _world.CreateBody(bd);
fd.restitution = restitution[i];
body.CreateFixture(fd);
}
}
}
public SphereStack()
{
{
BodyDef bd = new BodyDef();
Body ground = _world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
{
CircleShape shape = new CircleShape();
shape._radius = 1.0f;
for (int i = 0; i < e_count; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(0.0f, 4.0f + 3.0f * i);
_bodies[i] = _world.CreateBody(bd);
_bodies[i].CreateFixture(shape, 1.0f);
//_bodies[i].SetLinearVelocity(new Vector2(0.0f, -100.0f));
}
}
}
public SensorTest()
{
{
BodyDef bd = new BodyDef();
Body ground = _world.CreateBody(bd);
{
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
#if false
{
FixtureDef sd;
sd.SetAsBox(10.0f, 2.0f, new Vector2(0.0f, 20.0f), 0.0f);
sd.isSensor = true;
_sensor = ground.CreateFixture(&sd);
}
#else
{
CircleShape shape = new CircleShape();
shape._radius = 5.0f;
shape._p = new Vector2(0.0f, 10.0f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.isSensor = true;
_sensor = ground.CreateFixture(fd);
}
#endif
}
{
CircleShape shape = new CircleShape();
shape._radius = 1.0f;
for (int i = 0; i < e_count; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(-10.0f + 3.0f * i, 20.0f);
bd.userData = i;
_touching[i] = false;
_bodies[i] = _world.CreateBody(bd);
_bodies[i].CreateFixture(shape, 1.0f);
}
}
}
public ContinuousTest()
{
{
BodyDef bd = new BodyDef();
bd.position = new Vector2(0.0f, 0.0f);
Body body = _world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vector2(-10.0f, 0.0f), new Vector2(10.0f, 0.0f));
body.CreateFixture(shape, 1.0f);
shape.SetAsBox(0.2f, 1.0f, new Vector2(0.5f, 1.0f), 0.0f);
body.CreateFixture(shape, 1.0f);
}
#if true
{
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(0.0f, 20.0f);
//bd.angle = 0.1f;
PolygonShape shape = new PolygonShape();
shape.SetAsBox(2.0f, 0.1f);
_body = _world.CreateBody(bd);
_body.CreateFixture(shape, 1.0f);
Launch();
}
#else
{
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(0.0f, 0.5f);
Body body = _world.CreateBody(bd);
CircleShape shape = new CircleShape();
shape._p = new Vector2Zero();
shape._radius = 0.5f;
body.CreateFixture(shape, 1.0f);
//bd.bullet = true;
bd.position = new Vector2(0.0f, 10.0f);
body = _world.CreateBody(bd);
body.CreateFixture(shape, 1.0f);
body.SetLinearVelocity(new Vector2(0.0f, -100.0f));
}
#endif
}
VerticalStack()
{
{
BodyDef bd = new BodyDef();
Body ground = _world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
shape.SetAsEdge(new Vector2(20.0f, 0.0f), new Vector2(20.0f, 20.0f));
ground.CreateFixture(shape, 0.0f);
}
float[] xs = new float[5]
{0.0f, -10.0f, -5.0f, 5.0f, 10.0f};
for (int j = 0; j < (int)StackOptions.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 < (int)StackOptions.e_rowCount; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
int n = j * e_rowCount + i;
Debug.Assert(n < e_rowCount * e_columnCount);
_indices[n] = n;
bd.userData = _indices[n];
float x = 0.0f;
//float x = Rand.RandomFloat-0.02f, 0.02f);
//float x = i % 2 == 0 ? -0.025f : 0.025f;
bd.position = new Vector2(xs[j] + x, 0.752f + 1.54f * i);
Body body = _world.CreateBody(bd);
_bodies[n] = body;
body.CreateFixture(fd);
}
}
_bullet = null;
}
public Confined()
{
{
BodyDef bd = new BodyDef();
Body ground = _world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
// Floor
shape.SetAsEdge(new Vector2(-10.0f, 0.0f), new Vector2(10.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
// Left wall
shape.SetAsEdge(new Vector2(-10.0f, 0.0f), new Vector2(-10.0f, 20.0f));
ground.CreateFixture(shape, 0.0f);
// Right wall
shape.SetAsEdge(new Vector2(10.0f, 0.0f), new Vector2(10.0f, 20.0f));
ground.CreateFixture(shape, 0.0f);
// Roof
shape.SetAsEdge(new Vector2(-10.0f, 20.0f), new Vector2(10.0f, 20.0f));
ground.CreateFixture(shape, 0.0f);
}
float radius = 0.5f;
CircleShape shape2 = new CircleShape();
shape2._p = Vector2.Zero;
shape2._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 = new Vector2(-10.0f + (2.1f * j + 1.0f + 0.01f * i) * radius, (2.0f * i + 1.0f) * radius);
Body body = _world.CreateBody(bd);
body.CreateFixture(fd);
}
}
_world.Gravity = new Vector2(0.0f, 0.0f);
}
public Bridge()
{
Body ground;
{
PolygonDef sd = new PolygonDef();
sd.ShapeType = ShapeType.e_polygonShape;
sd.SetAsBox(50.0f, 10.0f);
BodyDef bd = new BodyDef();
bd.Position = new Vector(0, -10);
ground = world.CreateBody(bd);
ground.CreateShape(sd);
}
{
PolygonDef sd = new PolygonDef();
sd.SetAsBox(0.5f, 0.125f);
sd.Density = 20.0f;
sd.Friction = 0.2f;
BodyDef bd = new BodyDef();
bd.BodyType = BodyType.e_dynamicBody;
RevoluteJointDef jd = new RevoluteJointDef();
const float numPlanks = 30;
Body prevBody = ground;
for (float i = 0; i < numPlanks; ++i)
{
bd.Position = new Vector(-14.5f + i, 5);
Body body = world.CreateBody(bd);
body.CreateShape(sd);
body.SetMassFromShapes();
Vector anchor = new Vector(-15 + i, 5);
jd.Initialize(prevBody, body, anchor);
world.CreateJoint(jd);
prevBody = body;
}
Vector anchor2 = new Vector(-15 + numPlanks, 5);
jd.Initialize(prevBody, ground, anchor2);
world.CreateJoint(jd);
}
}
public Prismatic()
{
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = _world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(2.0f, 0.5f);
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(-10.0f, 10.0f);
bd.angle = 0.5f * (float)Settings.b2_pi;
Body body = _world.CreateBody(bd);
body.CreateFixture(shape, 5.0f);
PrismaticJointDef pjd = new PrismaticJointDef();
// Bouncy limit
Vector2 axis = new Vector2(2, 1);
axis.Normalize();
pjd.Initialize(ground, body, new Vector2(0.0f, 0.0f), axis);
// Non-bouncy limit
//pjd.Initialize(ground, body, new Vector2(-10.0f, 10.0f), new Vector2(1.0f, 0.0f));
pjd.motorSpeed = 10.0f;
pjd.maxMotorForce = 1000.0f;
pjd.enableMotor = true;
pjd.lowerTranslation = 0.0f;
pjd.upperTranslation = 20.0f;
pjd.enableLimit = true;
_joint = (PrismaticJoint)_world.CreateJoint(pjd);
}
}
public OneSidedPlatform()
{
// Ground
{
BodyDef bd = new BodyDef();
Body ground = _world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vector2(-20.0f, 0.0f), new Vector2(20.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
// Platform
{
BodyDef bd = new BodyDef();
bd.position = new Vector2(0.0f, 10.0f);
Body body = _world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsBox(3.0f, 0.5f);
_platform = body.CreateFixture(shape, 0.0f);
_bottom = 10.0f - 0.5f;
_top = 10.0f + 0.5f;
}
// Actor
{
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(0.0f, 12.0f);
Body body = _world.CreateBody(bd);
_radius = 0.5f;
CircleShape shape = new CircleShape();
shape._radius = _radius;
_character = body.CreateFixture(shape, 20.0f);
body.SetLinearVelocity(new Vector2(0.0f, -50.0f));
_state = State.e_unknown;
}
}
Pulleys()
{
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = _world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
{
float a = 2.0f;
float b = 4.0f;
float y = 16.0f;
float L = 12.0f;
PolygonShape shape = new PolygonShape();
shape.SetAsBox(a, b);
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(-10.0f, y);
Body body1 = _world.CreateBody(bd);
body1.CreateFixture(shape, 5.0f);
bd.position = new Vector2(10.0f, y);
Body body2 = _world.CreateBody(bd);
body2.CreateFixture(shape, 5.0f);
PulleyJointDef pulleyDef = new PulleyJointDef();
Vector2 anchor1 = new Vector2(-10.0f, y + b);
Vector2 anchor2 = new Vector2(10.0f, y + b);
Vector2 groundAnchor1 = new Vector2(-10.0f, y + b + L);
Vector2 groundAnchor2 = new Vector2(10.0f, y + b + L);
pulleyDef.Initialize(body1, body2, groundAnchor1, groundAnchor2, anchor1, anchor2, 2.0f);
_joint1 = (PulleyJoint)_world.CreateJoint(pulleyDef);
}
}
public Chain()
{
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = _world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.6f, 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 = new Vector2(0.5f + i, y);
Body body = _world.CreateBody(bd);
body.CreateFixture(fd);
Vector2 anchor = new Vector2((float)i, y);
jd.Initialize(prevBody, body, anchor);
_world.CreateJoint(jd);
prevBody = body;
}
}
}
public Revolute()
{
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = _world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
{
CircleShape shape = new CircleShape();
shape._radius = 0.5f;
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
RevoluteJointDef rjd = new RevoluteJointDef();
bd.position = new Vector2(0.0f, 20.0f);
Body body = _world.CreateBody(bd);
body.CreateFixture(shape, 5.0f);
float w = 100.0f;
body.SetAngularVelocity(w);
body.SetLinearVelocity(new Vector2(-8.0f * w, 0.0f));
rjd.Initialize(ground, body, new Vector2(0.0f, 12.0f));
rjd.motorSpeed = 1.0f * (float)Settings.b2_pi;
rjd.maxMotorTorque = 10000.0f;
rjd.enableMotor = false;
rjd.lowerAngle = -0.25f * (float)Settings.b2_pi;
rjd.upperAngle = 0.5f * (float)Settings.b2_pi;
rjd.enableLimit = true;
rjd.collideConnected = true;
_joint = (RevoluteJoint)_world.CreateJoint(rjd);
}
}
public Pyramid()
{
{
BodyDef bd = new BodyDef();
Body ground = _world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
{
float a = 0.5f;
PolygonShape shape = new PolygonShape();
shape.SetAsBox(a, a);
Vector2 x = new Vector2(-7.0f, 0.75f);
Vector2 y;
Vector2 deltaX = new Vector2(0.5625f, 1.25f);
Vector2 deltaY = new Vector2(1.125f, 0.0f);
for (int i = 0; i < e_count; ++i)
{
y = x;
for (int j = i; j < e_count; ++j)
{
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = y;
Body body = _world.CreateBody(bd);
body.CreateFixture(shape, 5.0f);
y += deltaY;
}
x += deltaX;
}
}
}
public ShapeEditing()
{
{
BodyDef bd = new BodyDef();
Body ground = _world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
BodyDef bodydef = new BodyDef();
bodydef.type = BodyType.Dynamic;
bodydef.position = new Vector2(0.0f, 10.0f);
_body = _world.CreateBody(bodydef);
PolygonShape shape2 = new PolygonShape();
shape2.SetAsBox(4.0f, 4.0f, new Vector2(0.0f, 0.0f), 0.0f);
_fixture1 = _body.CreateFixture(shape2, 10.0f);
_fixture2 = null;
}
public CollisionProcessing()
{
// Ground body
{
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vector2(-50.0f, 0.0f), new Vector2(50.0f, 0.0f));
FixtureDef sd = new FixtureDef();
sd.shape = shape;
BodyDef bd = new BodyDef();
Body ground = _world.CreateBody(bd);
ground.CreateFixture(sd);
}
float xLo = -5.0f, xHi = 5.0f;
float yLo = 2.0f, yHi = 35.0f;
// Small triangle
Vector2[] vertices = new Vector2[3];
vertices[0] = new Vector2(-1.0f, 0.0f);
vertices[1] = new Vector2(1.0f, 0.0f);
vertices[2] = new Vector2(0.0f, 2.0f);
PolygonShape polygon = new PolygonShape();
polygon.Set(vertices, 3);
FixtureDef triangleShapeDef = new FixtureDef();
triangleShapeDef.shape = polygon;
triangleShapeDef.density = 1.0f;
BodyDef triangleBodyDef = new BodyDef();
triangleBodyDef.type = BodyType.Dynamic;
triangleBodyDef.position = new Vector2(Rand.RandomFloat(xLo, xHi), Rand.RandomFloat(yLo, yHi));
Body body1 = _world.CreateBody(triangleBodyDef);
body1.CreateFixture(triangleShapeDef);
// Large triangle (recycle definitions)
vertices[0] *= 2.0f;
vertices[1] *= 2.0f;
vertices[2] *= 2.0f;
polygon.Set(vertices, 3);
triangleBodyDef.position = new Vector2(Rand.RandomFloat(xLo, xHi), Rand.RandomFloat(yLo, yHi));
Body body2 = _world.CreateBody(triangleBodyDef);
body2.CreateFixture(triangleShapeDef);
// Small box
polygon.SetAsBox(1.0f, 0.5f);
FixtureDef boxShapeDef = new FixtureDef();
boxShapeDef.shape = polygon;
boxShapeDef.density = 1.0f;
BodyDef boxBodyDef = new BodyDef();
boxBodyDef.type = BodyType.Dynamic;
boxBodyDef.position = new Vector2(Rand.RandomFloat(xLo, xHi), Rand.RandomFloat(yLo, yHi));
Body body3 = _world.CreateBody(boxBodyDef);
body3.CreateFixture(boxShapeDef);
// Large box (recycle definitions)
polygon.SetAsBox(2.0f, 1.0f);
boxBodyDef.position = new Vector2(Rand.RandomFloat(xLo, xHi), Rand.RandomFloat(yLo, yHi));
Body body4 = _world.CreateBody(boxBodyDef);
body4.CreateFixture(boxShapeDef);
// Small circle
CircleShape circle = new CircleShape();
circle._radius = 1.0f;
FixtureDef circleShapeDef = new FixtureDef();
circleShapeDef.shape = circle;
circleShapeDef.density = 1.0f;
BodyDef circleBodyDef = new BodyDef();
circleBodyDef.type = BodyType.Dynamic;
circleBodyDef.position = new Vector2(Rand.RandomFloat(xLo, xHi), Rand.RandomFloat(yLo, yHi));
Body body5 = _world.CreateBody(circleBodyDef);
body5.CreateFixture(circleShapeDef);
// Large circle
circle._radius *= 2.0f;
circleBodyDef.position = new Vector2(Rand.RandomFloat(xLo, xHi), Rand.RandomFloat(yLo, yHi));
Body body6 = _world.CreateBody(circleBodyDef);
body6.CreateFixture(circleShapeDef);
}
public Dominos()
{
Body b1 = null;
{
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
BodyDef bd = new BodyDef();
b1 = _world.CreateBody(bd);
b1.CreateFixture(shape, 0.0f);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(6.0f, 0.25f);
BodyDef bd = new BodyDef();
bd.position = new Vector2(-1.5f, 10.0f);
Body ground = _world.CreateBody(bd);
ground.CreateFixture(shape, 0.0f);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.1f, 1.0f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 20.0f;
fd.friction = 0.1f;
for (int i = 0; i < 10; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(-6.0f + 1.0f * i, 11.25f);
Body body = _world.CreateBody(bd);
body.CreateFixture(fd);
}
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(7.0f, 0.25f, Vector2.Zero, 0.3f);
BodyDef bd = new BodyDef();
bd.position = new Vector2(1.0f, 6.0f);
Body ground = _world.CreateBody(bd);
ground.CreateFixture(shape, 0.0f);
}
Body b2 = null;
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.25f, 1.5f);
BodyDef bd = new BodyDef();
bd.position = new Vector2(-7.0f, 4.0f);
b2 = _world.CreateBody(bd);
b2.CreateFixture(shape, 0.0f);
}
Body b3 = null;
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(6.0f, 0.125f);
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(-0.9f, 1.0f);
bd.angle = -0.15f;
b3 = _world.CreateBody(bd);
b3.CreateFixture(shape, 10.0f);
}
RevoluteJointDef jd = new RevoluteJointDef();
Vector2 anchor;
anchor = new Vector2(-2.0f, 1.0f);
jd.Initialize(b1, b3, anchor);
jd.collideConnected = true;
_world.CreateJoint(jd);
Body b4 = null;
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.25f, 0.25f);
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(-10.0f, 15.0f);
b4 = _world.CreateBody(bd);
b4.CreateFixture(shape, 10.0f);
}
anchor = new Vector2(-7.0f, 15.0f);
jd.Initialize(b2, b4, anchor);
_world.CreateJoint(jd);
Body b5 = null;
{
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(6.5f, 3.0f);
b5 = _world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 10.0f;
fd.friction = 0.1f;
shape.SetAsBox(1.0f, 0.1f, new Vector2(0.0f, -0.9f), 0.0f);
b5.CreateFixture(fd);
shape.SetAsBox(0.1f, 1.0f, new Vector2(-0.9f, 0.0f), 0.0f);
b5.CreateFixture(fd);
shape.SetAsBox(0.1f, 1.0f, new Vector2(0.9f, 0.0f), 0.0f);
b5.CreateFixture(fd);
}
anchor = new Vector2(6.0f, 2.0f);
jd.Initialize(b1, b5, anchor);
_world.CreateJoint(jd);
Body b6 = null;
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(1.0f, 0.1f);
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(6.5f, 4.1f);
b6 = _world.CreateBody(bd);
b6.CreateFixture(shape, 30.0f);
}
anchor = new Vector2(7.5f, 4.0f);
jd.Initialize(b5, b6, anchor);
_world.CreateJoint(jd);
Body b7 = null;
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.1f, 1.0f);
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(7.4f, 1.0f);
b7 = _world.CreateBody(bd);
b7.CreateFixture(shape, 10.0f);
}
DistanceJointDef djd = new DistanceJointDef();
djd.bodyA = b3;
djd.bodyB = b7;
djd.localAnchorA = new Vector2(6.0f, 0.0f);
djd.localAnchorB = new Vector2(0.0f, -1.0f);
Vector2 d = djd.bodyB.GetWorldPoint(djd.localAnchorB) - djd.bodyA.GetWorldPoint(djd.localAnchorA);
djd.length = d.Length();
_world.CreateJoint(djd);
{
float radius = 0.2f;
CircleShape shape = new CircleShape();
shape._radius = radius;
for (int i = 0; i < 4; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(5.9f + 2.0f * radius * i, 2.4f);
Body body = _world.CreateBody(bd);
body.CreateFixture(shape, 10.0f);
}
}
}
VaryingFriction()
{
{
BodyDef bd = new BodyDef();
Body ground = _world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(13.0f, 0.25f);
BodyDef bd = new BodyDef();
bd.position = new Vector2(-4.0f, 22.0f);
bd.angle = -0.25f;
Body ground = _world.CreateBody(bd);
ground.CreateFixture(shape, 0.0f);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.25f, 1.0f);
BodyDef bd = new BodyDef();
bd.position = new Vector2(10.5f, 19.0f);
Body ground = _world.CreateBody(bd);
ground.CreateFixture(shape, 0.0f);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(13.0f, 0.25f);
BodyDef bd = new BodyDef();
bd.position = new Vector2(4.0f, 14.0f);
bd.angle = 0.25f;
Body ground = _world.CreateBody(bd);
ground.CreateFixture(shape, 0.0f);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.25f, 1.0f);
BodyDef bd = new BodyDef();
bd.position = new Vector2(-10.5f, 11.0f);
Body ground = _world.CreateBody(bd);
ground.CreateFixture(shape, 0.0f);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(13.0f, 0.25f);
BodyDef bd = new BodyDef();
bd.position = new Vector2(-4.0f, 6.0f);
bd.angle = -0.25f;
Body ground = _world.CreateBody(bd);
ground.CreateFixture(shape, 0.0f);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.5f, 0.5f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 25.0f;
float[] friction = new float[5] {0.75f, 0.5f, 0.35f, 0.1f, 0.0f};
for (int i = 0; i < 5; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(-15.0f + 4.0f * i, 28.0f);
Body body = _world.CreateBody(bd);
fd.friction = friction[i];
body.CreateFixture(fd);
}
}
}
public Tiles()
{
var fixtureCount = 0;
var timer = Stopwatch.StartNew();
{
var a = 0.5f;
var bd = new BodyDef();
bd.Position.Y = -a;
var ground = World.CreateBody(bd);
var N = 200;
var M = 10;
var position = new Vector2();
position.Y = 0.0f;
for (var j = 0; j < M; ++j)
{
position.X = -N * a;
for (var i = 0; i < N; ++i)
{
var shape = new PolygonShape();
shape.SetAsBox(a, a, position, 0.0f);
ground.CreateFixture(shape, 0.0f);
++fixtureCount;
position.X += 2.0f * a;
}
position.Y -= 2.0f * a;
}
}
{
var a = 0.5f;
var shape = new PolygonShape();
shape.SetAsBox(a, a);
var x = new Vector2(-7.0f, 0.75f);
var y = new Vector2();
var deltaX = new Vector2(0.5625f, 1.25f);
var deltaY = new Vector2(1.125f, 0.0f);
for (int i = 0; i < Count; ++i)
{
y = x;
for (var j = i; j < Count; ++j)
{
var bd = new BodyDef {
BodyType = BodyType.DynamicBody, Position = y
};
var body = World.CreateBody(bd);
if (_bodies[_bodyIndex] != null)
{
World.DestroyBody(_bodies[_bodyIndex]);
_bodies[_bodyIndex] = null;
}
_bodies[_bodyIndex] = body;
_bodyIndex = (_bodyIndex + 1) % MaxBodies;
body.CreateFixture(shape, 5.0f);
++fixtureCount;
y += deltaY;
}
x += deltaX;
}
}
CreateTime = timer.ElapsedMilliseconds;
FixtureCount = fixtureCount;
}
public RayCast()
{
// Ground body
{
BodyDef bd = new BodyDef();
Body ground = _world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
{
var vertices = new Vector2[3];
vertices[0] = new Vector2(-0.5f, 0.0f);
vertices[1] = new Vector2(0.5f, 0.0f);
vertices[2] = new Vector2(0.0f, 1.5f);
_polygons[0] = new PolygonShape();
_polygons[0].Set(vertices, 3);
}
{
var vertices2 = new Vector2[3];
vertices2[0] = new Vector2(-0.1f, 0.0f);
vertices2[1] = new Vector2(0.1f, 0.0f);
vertices2[2] = new Vector2(0.0f, 1.5f);
_polygons[1] = new PolygonShape();
_polygons[1].Set(vertices2, 3);
}
{
float w = 1.0f;
float b = w / (2.0f + (float)Math.Sqrt(2.0));
float s = (float)Math.Sqrt(2.0) * b;
var vertices3 = new Vector2[8];
vertices3[0] = new Vector2(0.5f * s, 0.0f);
vertices3[1] = new Vector2(0.5f * w, b);
vertices3[2] = new Vector2(0.5f * w, b + s);
vertices3[3] = new Vector2(0.5f * s, w);
vertices3[4] = new Vector2(-0.5f * s, w);
vertices3[5] = new Vector2(-0.5f * w, b + s);
vertices3[6] = new Vector2(-0.5f * w, b);
vertices3[7] = new Vector2(-0.5f * s, 0.0f);
_polygons[2] = new PolygonShape();
_polygons[2].Set(vertices3, 8);
}
{
_polygons[3] = new PolygonShape();
_polygons[3].SetAsBox(0.5f, 0.5f);
}
{
_circle = new CircleShape();
_circle._radius = 0.5f;
}
_bodyIndex = 0;
_angle = 0.0f;
_mode = RayCastMode.Closest;
}
public Cantilever()
{
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = _world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.5f, 0.125f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 20.0f;
WeldJointDef jd = new WeldJointDef();
Body prevBody = ground;
for (int i = 0; i < e_count; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(-14.5f + 1.0f * i, 5.0f);
Body body = _world.CreateBody(bd);
body.CreateFixture(fd);
Vector2 anchor = new Vector2(-15.0f + 1.0f * i, 5.0f);
jd.Initialize(prevBody, body, anchor);
_world.CreateJoint(jd);
prevBody = body;
}
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.5f, 0.125f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 20.0f;
WeldJointDef jd = new WeldJointDef();
Body prevBody = ground;
for (int i = 0; i < e_count; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(-14.5f + 1.0f * i, 15.0f);
bd.inertiaScale = 10.0f;
Body body = _world.CreateBody(bd);
body.CreateFixture(fd);
Vector2 anchor = new Vector2(-15.0f + 1.0f * i, 15.0f);
jd.Initialize(prevBody, body, anchor);
_world.CreateJoint(jd);
prevBody = body;
}
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.5f, 0.125f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 20.0f;
WeldJointDef jd = new WeldJointDef();
Body prevBody = ground;
for (int i = 0; i < e_count; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(-4.5f + 1.0f * i, 5.0f);
Body body = _world.CreateBody(bd);
body.CreateFixture(fd);
if (i > 0)
{
Vector2 anchor = new Vector2(-5.0f + 1.0f * i, 5.0f);
jd.Initialize(prevBody, body, anchor);
_world.CreateJoint(jd);
}
prevBody = body;
}
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.5f, 0.125f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 20.0f;
WeldJointDef jd = new WeldJointDef();
Body prevBody = ground;
for (int i = 0; i < e_count; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(5.5f + 1.0f * i, 10.0f);
bd.inertiaScale = 10.0f;
Body body = _world.CreateBody(bd);
body.CreateFixture(fd);
if (i > 0)
{
Vector2 anchor = new Vector2(5.0f + 1.0f * i, 10.0f);
jd.Initialize(prevBody, body, anchor);
_world.CreateJoint(jd);
}
prevBody = body;
}
}
for (int i = 0; i < 2; ++i)
{
Vector2[] vertices = new Vector2[3];
vertices[0] = new Vector2(-0.5f, 0.0f);
vertices[1] = new Vector2(0.5f, 0.0f);
vertices[2] = new Vector2(0.0f, 1.5f);
PolygonShape shape = new PolygonShape();
shape.Set(vertices, 3);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 1.0f;
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(-8.0f + 8.0f * i, 12.0f);
Body body = _world.CreateBody(bd);
body.CreateFixture(fd);
}
for (int i = 0; i < 2; ++i)
{
CircleShape shape = new CircleShape();
shape._radius = 0.5f;
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 1.0f;
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(-6.0f + 6.0f * i, 10.0f);
Body body = _world.CreateBody(bd);
body.CreateFixture(fd);
}
}
public PhysicsProcessBox2D(Settings.BallReboundType ballRebound, bool shouldAttack)
{
this.shouldAttack = shouldAttack;
BodyDef ballDef = new BodyDef
{
AngularDamping = 0.01f,
Position = new Vec2(FieldWidth / 2, 2)
};
this.ball = this.world.CreateBody(ballDef);
this.ball.SetLinearVelocity(new Vec2(new Random().Next(-20, 21) / 8f, -2));
CircleDef ballShapeDef = new CircleDef
{
Radius = BallRadius,
Density = BallDensity,
Friction = BallFriction,
Restitution = ballRebound == Settings.BallReboundType.High ? 0.87f :
ballRebound == Settings.BallReboundType.Medium ? 0.6f : 0.4f
};
this.ball.CreateShape(ballShapeDef);
this.ball.SetMassFromShapes();
BodyDef groundDef = new BodyDef
{
Position = new Vec2(FieldWidth / 2, FieldHeight - 0.37f)
};
this.ground = this.world.CreateBody(groundDef);
PolygonDef groundShapeDef = new PolygonDef
{
Friction = 1f
};
groundShapeDef.SetAsBox(FieldWidth / 2, GroundThickness / 2);
this.ground.CreateShape(groundShapeDef);
BodyDef leftWallDef = new BodyDef
{
Position = new Vec2(-WallThickness / 2, FieldHeight / 2)
};
this.leftWall = this.world.CreateBody(leftWallDef);
PolygonDef leftWallShapeDef = new PolygonDef();
leftWallShapeDef.SetAsBox(WallThickness / 2, FieldHeight / 2);
this.leftWall.CreateShape(leftWallShapeDef);
BodyDef rightWallDef = new BodyDef
{
Position = new Vec2(FieldWidth + (WallThickness / 2), FieldHeight / 2)
};
this.rightWall = this.world.CreateBody(rightWallDef);
PolygonDef rightWallShapeDef = new PolygonDef();
rightWallShapeDef.SetAsBox(WallThickness / 2, FieldHeight / 2);
this.rightWall.CreateShape(rightWallShapeDef);
BodyDef roofDef = new BodyDef
{
Position = new Vec2(FieldWidth / 2, -WallThickness / 2)
};
this.roof = this.world.CreateBody(roofDef);
PolygonDef roofShapeDef = new PolygonDef();
roofShapeDef.SetAsBox(FieldWidth / 2, WallThickness / 2);
this.roof.CreateShape(roofShapeDef);
BodyDef playerLeftDef = new BodyDef
{
FixedRotation = true,
Position = new Vec2(PlayerXPosition, PlayerYPosition)
};
this.playerLeft = this.world.CreateBody(playerLeftDef);
PolygonDef playerBody = new PolygonDef
{
Friction = 2,
Density = 1.3f,
Restitution = 0,
UserData = "Body"
};
playerBody.SetAsBox(PlayerThickness / 2, PlayerBodyHeight / 2);
this.playerLeft.CreateShape(playerBody);
CircleDef playerHead = new CircleDef
{
Friction = 1,
Density = 1,
Restitution = 0,
Radius = PlayerHeadRadius,
LocalPosition = new Vec2(0, -0.35f),
UserData = "Head"
};
this.playerLeft.CreateShape(playerHead);
this.playerLeft.SetMassFromShapes();
BodyDef playerRightDef = new BodyDef
{
FixedRotation = true,
Position = new Vec2(FieldWidth - PlayerXPosition, PlayerYPosition)
};
this.playerRight = this.world.CreateBody(playerRightDef);
this.playerRight.CreateShape(playerBody);
this.playerRight.CreateShape(playerHead);
this.playerRight.SetMassFromShapes();
BodyDef goalLeftDef = new BodyDef
{
Position = new Vec2(0.5f, 5.035f)
};
this.goalLeft = this.world.CreateBody(goalLeftDef);
CircleDef goalLeftBarDef = new CircleDef
{
Radius = 0.075f,
LocalPosition = new Vec2(0.425f, 0),
Friction = 1,
Restitution = 0,
UserData = "Post"
};
PolygonDef goalLeftLineDef = new PolygonDef
{
Friction = 1,
Restitution = 0
};
goalLeftLineDef.SetAsBox(0.46f, 0.001f, new Vec2(-0.04f, -0.069f), 0);
this.goalLeft.CreateShape(goalLeftBarDef);
this.goalLeft.CreateShape(goalLeftLineDef);
BodyDef goalRightDef = new BodyDef
{
Position = new Vec2(13.16f, 5.035f)
};
this.goalRight = this.world.CreateBody(goalRightDef);
CircleDef goalRightBarDef = new CircleDef
{
Radius = 0.075f,
LocalPosition = new Vec2(-0.425f, 0),
Friction = 1,
Restitution = 0,
UserData = "Post"
};
PolygonDef goalRightLineDef = new PolygonDef
{
Friction = 1,
Restitution = 0
};
goalRightLineDef.SetAsBox(0.46f, 0.001f, new Vec2(0.04f, -0.069f), 0);
this.goalRight.CreateShape(goalRightBarDef);
this.goalRight.CreateShape(goalRightLineDef);
BodyDef legLeftDef = new BodyDef
{
Position = new Vec2(playerLeftDef.Position.X, playerLeftDef.Position.Y + 0.2f)
};
this.legLeft = this.world.CreateBody(legLeftDef);
PolygonDef legLeftShapeDef = new PolygonDef
{
Density = 1.4f,
Friction = 3,
Restitution = 0,
Vertices = new Vec2[] { new Vec2(0.12f, 0.03f), new Vec2(-0.07f, -0.06f), new Vec2(-0.03f, -0.15f) },
VertexCount = 3
};
this.legLeft.CreateShape(legLeftShapeDef);
this.legLeft.SetMassFromShapes();
RevoluteJointDef jointLeftDef = new RevoluteJointDef
{
Body1 = this.playerLeft,
Body2 = this.legLeft,
LocalAnchor1 = new Vec2(0.05f, -0.4f),
LocalAnchor2 = new Vec2(0, -0.64f),
LowerAngle = AngleConversion.DegreeToRadian(-18),
UpperAngle = AngleConversion.DegreeToRadian(13),
EnableMotor = true,
EnableLimit = true,
MaxMotorTorque = 0.08f
};
this.jointLeft = this.world.CreateJoint(jointLeftDef);
BodyDef legRightDef = new BodyDef
{
Position = new Vec2(playerRightDef.Position.X, playerRightDef.Position.Y + 0.2f)
};
this.legRight = this.world.CreateBody(legRightDef);
PolygonDef legRightShapeDef = new PolygonDef
{
Density = 1.4f,
Friction = 3,
Restitution = 0,
Vertices = new Vec2[] { new Vec2(-0.12f, 0.03f), new Vec2(0.03f, -0.15f), new Vec2(0.07f, -0.06f) },
VertexCount = 3
};
this.legRight.CreateShape(legRightShapeDef);
this.legRight.SetMassFromShapes();
RevoluteJointDef jointRightDef = new RevoluteJointDef
{
Body1 = this.playerRight,
Body2 = this.legRight,
LocalAnchor1 = new Vec2(-0.05f, -0.4f),
LocalAnchor2 = new Vec2(0, -0.64f),
LowerAngle = AngleConversion.DegreeToRadian(-13),
UpperAngle = AngleConversion.DegreeToRadian(18),
EnableMotor = true,
EnableLimit = true,
MaxMotorTorque = 0.08f
};
this.jointRight = this.world.CreateJoint(jointRightDef);
this.playerLeftTimers.Defend = 12000;
this.playerRightTimers.Defend = 12000;
this.listener.OnResult += this.BallContact;
this.listener.OnPersist += this.BallContacting;
this.listener.OnAdd += this.BallContacting;
this.listener.OnAdd += this.PlayerLeftContact;
this.listener.OnAdd += this.PlayerRightContact;
this.listener.OnAdd += this.PlayersTackle;
this.listener.OnRemove += this.PlayerLeftContactRemove;
this.listener.OnRemove += this.PlayerRightContactRemove;
this.world.SetContactListener(this.listener);
}
private BodyTypesTest()
{
Body ground;
{
BodyDef bd = new BodyDef();
ground = BodyFactory.CreateFromDef(World, bd);
EdgeShape shape = new EdgeShape(new Vector2(-20.0f, 0.0f), new Vector2(20.0f, 0.0f));
FixtureDef fd = new FixtureDef();
fd.Shape = shape;
ground.AddFixture(fd);
}
// Define attachment
{
BodyDef bd = new BodyDef();
bd.Type = BodyType.Dynamic;
bd.Position = new Vector2(0.0f, 3.0f);
_attachment = BodyFactory.CreateFromDef(World, bd);
PolygonShape shape = new PolygonShape(2.0f);
shape.SetAsBox(0.5f, 2.0f);
_attachment.AddFixture(shape);
}
// Define platform
{
BodyDef bd = new BodyDef();
bd.Type = BodyType.Dynamic;
bd.Position = new Vector2(-4.0f, 5.0f);
_platform = BodyFactory.CreateFromDef(World, bd);
PolygonShape shape = new PolygonShape(2.0f);
shape.SetAsBox(0.5f, 4.0f, new Vector2(4.0f, 0.0f), 0.5f * MathConstants.Pi);
FixtureDef fd = new FixtureDef();
fd.Shape = shape;
fd.Friction = 0.6f;
_platform.AddFixture(fd);
RevoluteJointDef rjd = new RevoluteJointDef();
rjd.Initialize(_attachment, _platform, new Vector2(0.0f, 5.0f));
rjd.MaxMotorTorque = 50.0f;
rjd.EnableMotor = true;
JointFactory.CreateFromDef(World, rjd);
PrismaticJointDef pjd = new PrismaticJointDef();
pjd.Initialize(ground, _platform, new Vector2(0.0f, 5.0f), new Vector2(1.0f, 0.0f));
pjd.MaxMotorForce = 1000.0f;
pjd.EnableMotor = true;
pjd.LowerTranslation = -10.0f;
pjd.UpperTranslation = 10.0f;
pjd.EnableLimit = true;
JointFactory.CreateFromDef(World, pjd);
_speed = 3.0f;
}
// Create a payload
{
BodyDef bd = new BodyDef();
bd.Type = BodyType.Dynamic;
bd.Position = new Vector2(0.0f, 8.0f);
Body body = BodyFactory.CreateFromDef(World, bd);
PolygonShape shape = new PolygonShape(2.0f);
shape.SetAsBox(0.75f, 0.75f);
FixtureDef fd = new FixtureDef();
fd.Shape = shape;
fd.Friction = 0.6f;
body.AddFixture(fd);
}
}
public VaryingFriction()
{
{
var bd = new BodyDef();
var ground = World.CreateBody(bd);
var shape = new EdgeShape();
shape.Set(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
{
var shape = new PolygonShape();
shape.SetAsBox(13.0f, 0.25f);
var bd = new BodyDef();
bd.Position.Set(-4.0f, 22.0f);
bd.Angle = -0.25f;
var ground = World.CreateBody(bd);
ground.CreateFixture(shape, 0.0f);
}
{
var shape = new PolygonShape();
shape.SetAsBox(0.25f, 1.0f);
var bd = new BodyDef();
bd.Position.Set(10.5f, 19.0f);
var ground = World.CreateBody(bd);
ground.CreateFixture(shape, 0.0f);
}
{
var shape = new PolygonShape();
shape.SetAsBox(13.0f, 0.25f);
var bd = new BodyDef();
bd.Position.Set(4.0f, 14.0f);
bd.Angle = 0.25f;
var ground = World.CreateBody(bd);
ground.CreateFixture(shape, 0.0f);
}
{
var shape = new PolygonShape();
shape.SetAsBox(0.25f, 1.0f);
var bd = new BodyDef();
bd.Position.Set(-10.5f, 11.0f);
var ground = World.CreateBody(bd);
ground.CreateFixture(shape, 0.0f);
}
{
var shape = new PolygonShape();
shape.SetAsBox(13.0f, 0.25f);
var bd = new BodyDef();
bd.Position.Set(-4.0f, 6.0f);
bd.Angle = -0.25f;
var ground = World.CreateBody(bd);
ground.CreateFixture(shape, 0.0f);
}
{
var shape = new PolygonShape();
shape.SetAsBox(0.5f, 0.5f);
var fd = new FixtureDef();
fd.Shape = shape;
fd.Density = 25.0f;
float[] friction = {0.75f, 0.5f, 0.35f, 0.1f, 0.0f};
for (var i = 0; i < 5; ++i)
{
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position.Set(-15.0f + 4.0f * i, 28.0f);
var body = World.CreateBody(bd);
fd.Friction = friction[i];
body.CreateFixture(fd);
}
}
}
public Biped(World w, Vec2 position)
{
_world = w;
BipedDef def = new BipedDef();
BodyDef bd = new BodyDef();
// create body parts
bd = def.LFootDef;
bd.Position += position;
LFoot = w.CreateBody(bd);
LFoot.CreateFixture(def.LFootPoly);
LFoot.SetMassFromShapes();
bd = def.RFootDef;
bd.Position += position;
RFoot = w.CreateBody(bd);
RFoot.CreateFixture(def.RFootPoly);
RFoot.SetMassFromShapes();
bd = def.LCalfDef;
bd.Position += position;
LCalf = w.CreateBody(bd);
LCalf.CreateFixture(def.LCalfPoly);
LCalf.SetMassFromShapes();
bd = def.RCalfDef;
bd.Position += position;
RCalf = w.CreateBody(bd);
RCalf.CreateFixture(def.RCalfPoly);
RCalf.SetMassFromShapes();
bd = def.LThighDef;
bd.Position += position;
LThigh = w.CreateBody(bd);
LThigh.CreateFixture(def.LThighPoly);
LThigh.SetMassFromShapes();
bd = def.RThighDef;
bd.Position += position;
RThigh = w.CreateBody(bd);
RThigh.CreateFixture(def.RThighPoly);
RThigh.SetMassFromShapes();
bd = def.PelvisDef0;
bd.Position += position;
Pelvis = w.CreateBody(bd);
Pelvis.CreateFixture(def.PelvisPoly);
Pelvis.SetMassFromShapes();
bd = def.PelvisDef;
bd.Position += position;
Stomach = w.CreateBody(bd);
Stomach.CreateFixture(def.StomachPoly);
Stomach.SetMassFromShapes();
bd = def.ChestDef;
bd.Position += position;
Chest = w.CreateBody(bd);
Chest.CreateFixture(def.ChestPoly);
Chest.SetMassFromShapes();
bd = def.NeckDef;
bd.Position += position;
Neck = w.CreateBody(bd);
Neck.CreateFixture(def.NeckPoly);
Neck.SetMassFromShapes();
bd = def.HeadDef;
bd.Position += position;
Head = w.CreateBody(bd);
Head.CreateFixture(def.HeadCirc);
Head.SetMassFromShapes();
bd = def.LUpperArmDef;
bd.Position += position;
LUpperArm = w.CreateBody(bd);
LUpperArm.CreateFixture(def.LUpperArmPoly);
LUpperArm.SetMassFromShapes();
bd = def.RUpperArmDef;
bd.Position += position;
RUpperArm = w.CreateBody(bd);
RUpperArm.CreateFixture(def.RUpperArmPoly);
RUpperArm.SetMassFromShapes();
bd = def.LForearmDef;
bd.Position += position;
LForearm = w.CreateBody(bd);
LForearm.CreateFixture(def.LForearmPoly);
LForearm.SetMassFromShapes();
bd = def.RForearmDef;
bd.Position += position;
RForearm = w.CreateBody(bd);
RForearm.CreateFixture(def.RForearmPoly);
RForearm.SetMassFromShapes();
bd = def.LHandDef;
bd.Position += position;
LHand = w.CreateBody(bd);
LHand.CreateFixture(def.LHandPoly);
LHand.SetMassFromShapes();
bd = def.RHandDef;
bd.Position += position;
RHand = w.CreateBody(bd);
RHand.CreateFixture(def.RHandPoly);
RHand.SetMassFromShapes();
// link body parts
def.LAnkleDef.Body1 = LFoot;
def.LAnkleDef.Body2 = LCalf;
def.RAnkleDef.Body1 = RFoot;
def.RAnkleDef.Body2 = RCalf;
def.LKneeDef.Body1 = LCalf;
def.LKneeDef.Body2 = LThigh;
def.RKneeDef.Body1 = RCalf;
def.RKneeDef.Body2 = RThigh;
def.LHipDef.Body1 = LThigh;
def.LHipDef.Body2 = Pelvis;
def.RHipDef.Body1 = RThigh;
def.RHipDef.Body2 = Pelvis;
def.LowerAbsDef.Body1 = Pelvis;
def.LowerAbsDef.Body2 = Stomach;
def.UpperAbsDef.Body1 = Stomach;
def.UpperAbsDef.Body2 = Chest;
def.LowerNeckDef.Body1 = Chest;
def.LowerNeckDef.Body2 = Neck;
def.UpperNeckDef.Body1 = Chest;
def.UpperNeckDef.Body2 = Head;
def.LShoulderDef.Body1 = Chest;
def.LShoulderDef.Body2 = LUpperArm;
def.RShoulderDef.Body1 = Chest;
def.RShoulderDef.Body2 = RUpperArm;
def.LElbowDef.Body1 = LForearm;
def.LElbowDef.Body2 = LUpperArm;
def.RElbowDef.Body1 = RForearm;
def.RElbowDef.Body2 = RUpperArm;
def.LWristDef.Body1 = LHand;
def.LWristDef.Body2 = LForearm;
def.RWristDef.Body1 = RHand;
def.RWristDef.Body2 = RForearm;
// create joints
LAnkle = (RevoluteJoint)w.CreateJoint(def.LAnkleDef);
RAnkle = (RevoluteJoint)w.CreateJoint(def.RAnkleDef);
LKnee = (RevoluteJoint)w.CreateJoint(def.LKneeDef);
RKnee = (RevoluteJoint)w.CreateJoint(def.RKneeDef);
LHip = (RevoluteJoint)w.CreateJoint(def.LHipDef);
RHip = (RevoluteJoint)w.CreateJoint(def.RHipDef);
LowerAbs = (RevoluteJoint)w.CreateJoint(def.LowerAbsDef);
UpperAbs = (RevoluteJoint)w.CreateJoint(def.UpperAbsDef);
LowerNeck = (RevoluteJoint)w.CreateJoint(def.LowerNeckDef);
UpperNeck = (RevoluteJoint)w.CreateJoint(def.UpperNeckDef);
LShoulder = (RevoluteJoint)w.CreateJoint(def.LShoulderDef);
RShoulder = (RevoluteJoint)w.CreateJoint(def.RShoulderDef);
LElbow = (RevoluteJoint)w.CreateJoint(def.LElbowDef);
RElbow = (RevoluteJoint)w.CreateJoint(def.RElbowDef);
LWrist = (RevoluteJoint)w.CreateJoint(def.LWristDef);
RWrist = (RevoluteJoint)w.CreateJoint(def.RWristDef);
}
public ApplyForce()
{
World.Gravity = new Vector2(0.0f, 0.0f);
const float restitution = 0.4f;
Body ground;
{
var bd = new BodyDef();
bd.Position.Set(0.0f, 20.0f);
ground = World.CreateBody(bd);
var shape = new EdgeShape();
var sd = new FixtureDef();
sd.Shape = shape;
sd.Density = 0.0f;
sd.Restitution = restitution;
// Left vertical
shape.SetTwoSided(new Vector2(-20.0f, -20.0f), new Vector2(-20.0f, 20.0f));
ground.CreateFixture(sd);
// Right vertical
shape.SetTwoSided(new Vector2(20.0f, -20.0f), new Vector2(20.0f, 20.0f));
ground.CreateFixture(sd);
// Top horizontal
shape.SetTwoSided(new Vector2(-20.0f, 20.0f), new Vector2(20.0f, 20.0f));
ground.CreateFixture(sd);
// Bottom horizontal
shape.SetTwoSided(new Vector2(-20.0f, -20.0f), new Vector2(20.0f, -20.0f));
ground.CreateFixture(sd);
}
{
var xf1 = new Transform();
xf1.Rotation.Set(0.3524f * Settings.Pi);
xf1.Position = xf1.Rotation.GetXAxis();
var vertices = new Vector2[3];
vertices[0] = MathUtils.Mul(xf1, new Vector2(-1.0f, 0.0f));
vertices[1] = MathUtils.Mul(xf1, new Vector2(1.0f, 0.0f));
vertices[2] = MathUtils.Mul(xf1, new Vector2(0.0f, 0.5f));
var poly1 = new PolygonShape();
poly1.Set(vertices);
var sd1 = new FixtureDef();
sd1.Shape = poly1;
sd1.Density = 2.0f;
var xf2 = new Transform();
xf2.Rotation.Set(-0.3524f * Settings.Pi);
xf2.Position = -xf2.Rotation.GetXAxis();
vertices[0] = MathUtils.Mul(xf2, new Vector2(-1.0f, 0.0f));
vertices[1] = MathUtils.Mul(xf2, new Vector2(1.0f, 0.0f));
vertices[2] = MathUtils.Mul(xf2, new Vector2(0.0f, 0.5f));
var poly2 = new PolygonShape();
poly2.Set(vertices);
var sd2 = new FixtureDef();
sd2.Shape = poly2;
sd2.Density = 2.0f;
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position = new Vector2(0.0f, 3.0f);
bd.Angle = Settings.Pi;
bd.AllowSleep = false;
_body = World.CreateBody(bd);
_body.CreateFixture(sd1);
_body.CreateFixture(sd2);
var gravity = 10.0f;
var I = _body.Inertia;
var mass = _body.Mass;
// Compute an effective radius that can be used to
// set the max torque for a friction joint
// For a circle: I = 0.5 * m * r * r ==> r = sqrt(2 * I / m)
var radius = (float)Math.Sqrt(2.0f * I / mass);
FrictionJointDef jd = new FrictionJointDef();
jd.BodyA = ground;
jd.BodyB = _body;
jd.LocalAnchorA.SetZero();
jd.LocalAnchorB = _body.GetLocalCenter();
jd.CollideConnected = true;
jd.MaxForce = 0.5f * mass * gravity;
jd.MaxTorque = 0.2f * mass * radius * gravity;
World.CreateJoint(jd);
}
{
var shape = new PolygonShape();
shape.SetAsBox(0.5f, 0.5f);
var fd = new FixtureDef();
fd.Shape = shape;
fd.Density = 1.0f;
fd.Friction = 0.3f;
for (var i = 0; i < 10; ++i)
{
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position.Set(0.0f, 7.0f + 1.54f * i);
var body = World.CreateBody(bd);
body.CreateFixture(fd);
var gravity = 10.0f;
var I = body.Inertia;
var mass = body.Mass;
// For a circle: I = 0.5 * m * r * r ==> r = sqrt(2 * I / m)
var radius = (float)Math.Sqrt(2.0f * I / mass);
var jd = new FrictionJointDef();
jd.LocalAnchorA.SetZero();
jd.LocalAnchorB.SetZero();
jd.BodyA = ground;
jd.BodyB = body;
jd.CollideConnected = true;
jd.MaxForce = mass * gravity;
jd.MaxTorque = 0.1f * mass * radius * gravity;
World.CreateJoint(jd);
}
}
}
public RopeJointTest()
{
Body ground;
{
var bd = new BodyDef();
ground = World.CreateBody(bd);
var shape = new EdgeShape();
shape.Set(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
{
var shape = new PolygonShape();
shape.SetAsBox(0.5f, 0.125f);
var fd = new FixtureDef();
fd.Shape = shape;
fd.Density = 20.0f;
fd.Friction = 0.2f;
var filter = fd.Filter;
filter.CategoryBits = 0x0001;
filter.MaskBits = 0xFFFF & ~0x0002;
fd.Filter = filter;
var jd = new RevoluteJointDef();
jd.CollideConnected = false;
const int N = 10;
const float y = 15.0f;
_ropeDef.LocalAnchorA.Set(0.0f, y);
var prevBody = ground;
for (var i = 0; i < N; ++i)
{
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position.Set(0.5f + 1.0f * i, y);
if (i == N - 1)
{
shape.SetAsBox(1.5f, 1.5f);
fd.Density = 100.0f;
filter = fd.Filter;
filter.CategoryBits = 0x0002;
fd.Filter = filter;
bd.Position.Set(1.0f * i, y);
bd.AngularDamping = 0.4f;
}
var body = World.CreateBody(bd);
body.CreateFixture(fd);
var anchor = new Vector2(i, y);
jd.Initialize(prevBody, body, anchor);
World.CreateJoint(jd);
prevBody = body;
}
_ropeDef.LocalAnchorB.SetZero();
var extraLength = 0.01f;
_ropeDef.MaxLength = N - 1.0f + extraLength;
_ropeDef.BodyB = prevBody;
}
{
_ropeDef.BodyA = ground;
_rope = World.CreateJoint(_ropeDef);
}
}
public ApplyForce()
{
_world.Gravity = new Vec2(0.0f, 0.0f);
const float k_restitution = 0.4f;
{
BodyDef bd = new BodyDef();
bd.Position.Set(0.0f, 20.0f);
Body ground = _world.CreateBody(bd);
PolygonDef sd = new PolygonDef();
sd.Density = 0.0f;
sd.Restitution = k_restitution;
sd.SetAsBox(0.2f, 20.0f, new Vec2(-20.0f, 0.0f), 0.0f);
ground.CreateShape(sd);
sd.SetAsBox(0.2f, 20.0f, new Vec2(20.0f, 0.0f), 0.0f);
ground.CreateShape(sd);
sd.SetAsBox(0.2f, 20.0f, new Vec2(0.0f, -20.0f), 0.5f * Box2DX.Common.Settings.Pi);
ground.CreateShape(sd);
sd.SetAsBox(0.2f, 20.0f, new Vec2(0.0f, 20.0f), -0.5f * Box2DX.Common.Settings.Pi);
ground.CreateShape(sd);
}
{
XForm xf1 = new XForm();
xf1.R.Set(0.3524f * Box2DX.Common.Settings.Pi);
xf1.Position = Box2DX.Common.Math.Mul(xf1.R, new Vec2(1.0f, 0.0f));
PolygonDef sd1 = new PolygonDef();
sd1.VertexCount = 3;
sd1.Vertices[0] = Box2DX.Common.Math.Mul(xf1, new Vec2(-1.0f, 0.0f));
sd1.Vertices[1] = Box2DX.Common.Math.Mul(xf1, new Vec2(1.0f, 0.0f));
sd1.Vertices[2] = Box2DX.Common.Math.Mul(xf1, new Vec2(0.0f, 0.5f));
sd1.Density = 2.0f;
XForm xf2 = new XForm();
xf2.R.Set(-0.3524f * Box2DX.Common.Settings.Pi);
xf2.Position = Box2DX.Common.Math.Mul(xf2.R, new Vec2(-1.0f, 0.0f));
PolygonDef sd2 = new PolygonDef();
sd2.VertexCount = 3;
sd2.Vertices[0] = Box2DX.Common.Math.Mul(xf2, new Vec2(-1.0f, 0.0f));
sd2.Vertices[1] = Box2DX.Common.Math.Mul(xf2, new Vec2(1.0f, 0.0f));
sd2.Vertices[2] = Box2DX.Common.Math.Mul(xf2, new Vec2(0.0f, 0.5f));
sd2.Density = 2.0f;
BodyDef bd = new BodyDef();
bd.AngularDamping = 2.0f;
bd.LinearDamping = 0.1f;
bd.Position.Set(0.0f, 1.05f);
bd.Angle = Box2DX.Common.Settings.Pi;
_body = _world.CreateBody(bd);
_body.CreateShape(sd1);
_body.CreateShape(sd2);
_body.SetMassFromShapes();
}
}
public EdgeTest()
{
var vertices = new Vector2[]
{
new Vector2(10.0f, -4.0f),
new Vector2(10.0f, 0.0f),
new Vector2(6.0f, 0.0f),
new Vector2(4.0f, 2.0f),
new Vector2(2.0f, 0.0f),
new Vector2(-2.0f, 0.0f),
new Vector2(-6.0f, 0.0f),
new Vector2(-8.0f, -3.0f),
new Vector2(-10.0f, 0.0f),
new Vector2(-10.0f, -4.0f)
};
Offset1.Set(0.0f, 8.0f);
Offset2.Set(0.0f, 16.0f);
{
var v1 = vertices[0] + Offset1;
var v2 = vertices[1] + Offset1;
var v3 = vertices[2] + Offset1;
var v4 = vertices[3] + Offset1;
var v5 = vertices[4] + Offset1;
var v6 = vertices[5] + Offset1;
var v7 = vertices[6] + Offset1;
var v8 = vertices[7] + Offset1;
var v9 = vertices[8] + Offset1;
var v10 = vertices[9] + Offset1;
BodyDef bd = new BodyDef();
Body ground = World.CreateBody(bd);
var shape = new EdgeShape();
shape.SetOneSided(v10, v1, v2, v3);
ground.CreateFixture(shape, 0.0f);
shape.SetOneSided(v1, v2, v3, v4);
ground.CreateFixture(shape, 0.0f);
shape.SetOneSided(v2, v3, v4, v5);
ground.CreateFixture(shape, 0.0f);
shape.SetOneSided(v3, v4, v5, v6);
ground.CreateFixture(shape, 0.0f);
shape.SetOneSided(v4, v5, v6, v7);
ground.CreateFixture(shape, 0.0f);
shape.SetOneSided(v5, v6, v7, v8);
ground.CreateFixture(shape, 0.0f);
shape.SetOneSided(v6, v7, v8, v9);
ground.CreateFixture(shape, 0.0f);
shape.SetOneSided(v7, v8, v9, v10);
ground.CreateFixture(shape, 0.0f);
shape.SetOneSided(v8, v9, v10, v1);
ground.CreateFixture(shape, 0.0f);
shape.SetOneSided(v9, v10, v1, v2);
ground.CreateFixture(shape, 0.0f);
}
{
var v1 = vertices[0] + Offset2;
var v2 = vertices[1] + Offset2;
var v3 = vertices[2] + Offset2;
var v4 = vertices[3] + Offset2;
var v5 = vertices[4] + Offset2;
var v6 = vertices[5] + Offset2;
var v7 = vertices[6] + Offset2;
var v8 = vertices[7] + Offset2;
var v9 = vertices[8] + Offset2;
var v10 = vertices[9] + Offset2;
BodyDef bd = new BodyDef();
Body ground = World.CreateBody(bd);
EdgeShape shape = new EdgeShape();
shape.SetTwoSided(v1, v2);
ground.CreateFixture(shape, 0.0f);
shape.SetTwoSided(v2, v3);
ground.CreateFixture(shape, 0.0f);
shape.SetTwoSided(v3, v4);
ground.CreateFixture(shape, 0.0f);
shape.SetTwoSided(v4, v5);
ground.CreateFixture(shape, 0.0f);
shape.SetTwoSided(v5, v6);
ground.CreateFixture(shape, 0.0f);
shape.SetTwoSided(v6, v7);
ground.CreateFixture(shape, 0.0f);
shape.SetTwoSided(v7, v8);
ground.CreateFixture(shape, 0.0f);
shape.SetTwoSided(v8, v9);
ground.CreateFixture(shape, 0.0f);
shape.SetTwoSided(v9, v10);
ground.CreateFixture(shape, 0.0f);
shape.SetTwoSided(v10, v1);
ground.CreateFixture(shape, 0.0f);
}
Body1 = null;
Body2 = null;
CreateBoxes();
Boxes = true;
}
void CreateLeg(float s, Vector2 wheelAnchor)
{
Vector2 p1 = new Vector2(5.4f * s, -6.1f);
Vector2 p2 = new Vector2(7.2f * s, -1.2f);
Vector2 p3 = new Vector2(4.3f * s, -1.9f);
Vector2 p4 = new Vector2(3.1f * s, 0.8f);
Vector2 p5 = new Vector2(6.0f * s, 1.5f);
Vector2 p6 = new Vector2(2.5f * s, 3.7f);
FixtureDef fd1 = new FixtureDef();
FixtureDef fd2 = new FixtureDef();
fd1.filter.groupIndex = -1;
fd2.filter.groupIndex = -1;
fd1.density = 1.0f;
fd2.density = 1.0f;
PolygonShape poly1 = new PolygonShape();
PolygonShape poly2 = new PolygonShape();
Vector2[] vertices = new Vector2[3];
if (s > 0.0f)
{
vertices[0] = p1;
vertices[1] = p2;
vertices[2] = p3;
poly1.Set(vertices, 3);
vertices[0] = Vector2.Zero;
vertices[1] = p5 - p4;
vertices[2] = p6 - p4;
poly2.Set(vertices, 3);
}
else
{
vertices[0] = p1;
vertices[1] = p3;
vertices[2] = p2;
poly1.Set(vertices, 3);
vertices[0] = Vector2.Zero;
vertices[1] = p6 - p4;
vertices[2] = p5 - p4;
poly2.Set(vertices, 3);
}
fd1.shape = poly1;
fd2.shape = poly2;
BodyDef bd1 = new BodyDef();
BodyDef bd2 = new BodyDef();
bd1.type = BodyType.Dynamic;
bd2.type = BodyType.Dynamic;
bd1.position = _offset;
bd2.position = p4 + _offset;
bd1.angularDamping = 10.0f;
bd2.angularDamping = 10.0f;
Body body1 = _world.CreateBody(bd1);
Body body2 = _world.CreateBody(bd2);
body1.CreateFixture(fd1);
body2.CreateFixture(fd2);
DistanceJointDef djd = new DistanceJointDef();
// Using a soft distanceraint can reduce some jitter.
// It also makes the structure seem a bit more fluid by
// acting like a suspension system.
djd.dampingRatio = 0.5f;
djd.frequencyHz = 10.0f;
djd.Initialize(body1, body2, p2 + _offset, p5 + _offset);
_world.CreateJoint(djd);
djd.Initialize(body1, body2, p3 + _offset, p4 + _offset);
_world.CreateJoint(djd);
djd.Initialize(body1, _wheel, p3 + _offset, wheelAnchor + _offset);
_world.CreateJoint(djd);
djd.Initialize(body2, _wheel, p6 + _offset, wheelAnchor + _offset);
_world.CreateJoint(djd);
RevoluteJointDef rjd = new RevoluteJointDef();
rjd.Initialize(body2, _chassis, p4 + _offset);
_world.CreateJoint(rjd);
}
protected override void Create()
{
// Ground body
{
var bd = new BodyDef();
var ground = World.CreateBody(bd);
var x1 = -20.0f;
var y1 = 2.0f * (float)Math.Cos(x1 / 10.0f * Settings.Pi);
for (var i = 0; i < 80; ++i)
{
var x2 = x1 + 0.5f;
var y2 = 2.0f * (float)Math.Cos(x2 / 10.0f * Settings.Pi);
var shape = new EdgeShape();
shape.Set(new Vector2(x1, y1), new Vector2(x2, y2));
ground.CreateFixture(shape, 0.0f);
x1 = x2;
y1 = y2;
}
}
{
var vertices = new Vector2[3];
vertices[0].Set(-0.5f, 0.0f);
vertices[1].Set(0.5f, 0.0f);
vertices[2].Set(0.0f, 1.5f);
_polygons[0].Set(vertices);
}
{
var vertices = new Vector2[3];
vertices[0].Set(-0.1f, 0.0f);
vertices[1].Set(0.1f, 0.0f);
vertices[2].Set(0.0f, 1.5f);
_polygons[1].Set(vertices);
}
{
var w = 1.0f;
var b = w / (2.0f + (float)Math.Sqrt(2.0f));
var s = (float)Math.Sqrt(2.0f) * b;
var vertices = new Vector2[8];
vertices[0].Set(0.5f * s, 0.0f);
vertices[1].Set(0.5f * w, b);
vertices[2].Set(0.5f * w, b + s);
vertices[3].Set(0.5f * s, w);
vertices[4].Set(-0.5f * s, w);
vertices[5].Set(-0.5f * w, b + s);
vertices[6].Set(-0.5f * w, b);
vertices[7].Set(-0.5f * s, 0.0f);
_polygons[2].Set(vertices);
}
{
_polygons[3].SetAsBox(0.5f, 0.5f);
}
{
_circle.Radius = 0.5f;
}
_bodyIndex = 0;
_angle = 0.0f;
}
public override void Step(Framework.Settings settings)
{
base.Step(settings);
_debugDraw.DrawString(50, _textLine, "Press: (,) to launch a bullet.");
if (_stepCount == 300)
{
if (_bullet != null)
{
_world.DestroyBody(_bullet);
_bullet = null;
}
{
CircleShape shape = new CircleShape();
shape._radius = 0.25f;
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 20.0f;
fd.restitution = 0.05f;
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.bullet = true;
bd.position = new Vector2(-31.0f, 5.0f);
_bullet = _world.CreateBody(bd);
_bullet.CreateFixture(fd);
_bullet.SetLinearVelocity(new Vector2(400.0f, 0.0f));
}
}
_textLine += 15;
}
/// <summary>
/// Add objects to the Box2d world.
/// </summary>
protected override void PopulateWorld()
{
// ==== Define the ground body ====
BodyDef groundBodyDef = new BodyDef();
groundBodyDef.Position.Set(0f, -0.25f);
// Call the body factory which creates the ground box shape.
// The body is also added to the world.
Body groundBody = _world.CreateBody(groundBodyDef);
// Define the ground box shape.
PolygonDef groundShapeDef = new PolygonDef();
// The extents are the half-widths of the box.
groundShapeDef.SetAsBox(_trackLengthHalf + 1f, 0.25f);
groundShapeDef.Friction = _simParams._defaultFriction;
groundShapeDef.Restitution = _simParams._defaultRestitution;
groundShapeDef.Filter.CategoryBits = 0x3;
// Add the ground shape to the ground body.
groundBody.CreateShape(groundShapeDef);
// ==== Define the cart body.
BodyDef cartBodyDef = new BodyDef();
cartBodyDef.Position.Set(0f, 0.15f);
// Create cart body.
_cartBody = _world.CreateBody(cartBodyDef);
PolygonDef cartShapeDef = new PolygonDef();
cartShapeDef.SetAsBox(0.5f, 0.125f);
cartShapeDef.Friction = 0f;
cartShapeDef.Restitution = 0f;
cartShapeDef.Density = 16f;
_cartBody.CreateShape(cartShapeDef);
_cartBody.SetMassFromShapes();
// Fix cart to 'track' (prismatic joint).
PrismaticJointDef cartTrackJointDef = new PrismaticJointDef();
cartTrackJointDef.EnableMotor = true;
cartTrackJointDef.LowerTranslation = -_trackLengthHalf;
cartTrackJointDef.UpperTranslation = _trackLengthHalf;
cartTrackJointDef.EnableLimit = true;
cartTrackJointDef.Initialize(groundBody, _cartBody, new Vec2(0f, 0f), new Vec2(1f, 0f));
_cartTrackJoint = (PrismaticJoint)_world.CreateJoint(cartTrackJointDef);
// ===== Create arm1.
const float poleRadius = 0.025f; // Half the thickness of the pole.
Vec2 arm1PosBase = new Vec2(0f, 0.275f);
Body arm1Body = CreatePole(arm1PosBase, _cartJointInitialAngle, poleRadius, 0f, 0f, 2f, 0x0);
// Join arm1 to cart.
RevoluteJointDef poleJointDef = new RevoluteJointDef();
poleJointDef.CollideConnected = false;
poleJointDef.EnableMotor = false;
poleJointDef.MaxMotorTorque = 0f;
poleJointDef.Initialize(_cartBody, arm1Body, arm1PosBase);
_cartJoint = (RevoluteJoint)_world.CreateJoint(poleJointDef);
// ===== Create arm2.
Vec2 arm2PosBase = CalcPoleEndPos(arm1Body);
Body arm2Body = CreatePole(arm2PosBase, _elbowJointInitialAngle, poleRadius, 0f, 0f, 2f, 0x0);
_arm2Body = arm2Body;
// Join arm2 to arm1.
poleJointDef.CollideConnected = false;
poleJointDef.EnableMotor = false;
poleJointDef.MaxMotorTorque = 0f;
poleJointDef.Initialize(arm1Body, arm2Body, arm2PosBase);
_elbowJoint = (RevoluteJoint)_world.CreateJoint(poleJointDef);
}
// don't bother caching multi apparel ones for now
public static ApparelSlot Create(BodyDef def, IEnumerable <ThingDef> apparel)
{
return(new ApparelSlot(def, apparel));
}
public DataLoader()
{
Race human = new Race();
human.DefName = "Human";
human.Label = "Human";
Genders.Add("Female");
Genders.Add("Male");
human.BodyType.Add("Male");
human.BodyType.Add("Female");
human.BodyType.Add("Average");
human.BodyType.Add("Thin");
human.BodyType.Add("Hulk");
human.BodyType.Add("Fat");
human.HairsByGender["Female"] = new List <Hair>();
human.HairsByGender["Male"] = new List <Hair>();
foreach (var firstType in new string[] { "Average", "Narrow" })
{
foreach (var secondType in new string[] { "Normal", "Pointy", "Wide" })
{
human.HeadType.Add(new CrownType
{
CrownFirstType = firstType,
CrownSubType = secondType
});
}
}
Quality.Add("Awful");
Quality.Add("Poor");
Quality.Add("Normal");
Quality.Add("Good");
Quality.Add("Excellent");
Quality.Add("Masterwork");
Quality.Add("Legendary");
RaceDictionary[human.DefName] = human;
ResourceLoader.Load();
var allXmlFiles = Directory.GetFiles("Mods", "*.xml", SearchOption.AllDirectories);
var steamModsDir = GetSteamWorkshopLocation();
if (Directory.Exists(steamModsDir))
{
allXmlFiles = allXmlFiles.Concat(Directory.GetFiles(steamModsDir, "*.xml", SearchOption.AllDirectories)).ToArray();
}
List <Hair> allHairs = new List <Hair>();
foreach (var xmlFile in allXmlFiles)
{
var modxmlFile = xmlFile;
if (modxmlFile.StartsWith(steamModsDir))
{
modxmlFile = xmlFile.Replace(steamModsDir, "");
}
string[] pathComponents = modxmlFile.Split('\\');
if (!pathComponents[2].Equals("Defs"))
{
continue;
}
using (var fileStream = File.OpenRead(xmlFile))
{
var docRoot = XDocument.Load(fileStream).Root;
CurrentDocumentPath = xmlFile;
var workTypeDefsRoot = docRoot.XPathSelectElements("WorkTypeDef/workTags/..");
if (workTypeDefsRoot.Count() != 0)
{
var workTypeDefs = from workTypeDef in workTypeDefsRoot
select new WorkType
{
DefName = workTypeDef.Element("defName").GetValue(),
FullName = workTypeDef.Element("gerundLabel").GetValue(),
WorkTags = workTypeDef.Element("workTags")
.Elements("li")
.Select(element => element.GetValue()).ToArray()
};
WorkTypes.AddRange(workTypeDefs);
}
foreach (var raceVars in docRoot.Descendants("AlienRace.ThingDef_AlienRace"))
{
Race race = new Race();
race.DefName = raceVars.Element("defName").GetValue();
race.Label = raceVars.Element("label").GetValue();
var alienraceElement = raceVars.Element("alienrace");
if (alienraceElement == null)
{
alienraceElement = raceVars.Element("alienRace");
}
race.HairsByGender["Female"] = new List <Hair>();
race.HairsByGender["Male"] = new List <Hair>();
foreach (var bodyType in alienraceElement.XPathSelectElements("generalSettings/alienPartGenerator/alienbodytypes/li"))
{
race.BodyType.Add(bodyType.GetValue());
}
foreach (var crownType in alienraceElement.XPathSelectElements("generalSettings/alienPartGenerator/aliencrowntypes/li"))
{
string[] crownStrings = crownType.GetValue().Split('_');
race.HeadType.Add(new CrownType
{
CrownFirstType = crownStrings[0],
CrownSubType = crownStrings[1]
});
}
if (race.HeadType.Count == 0)
{
race.HeadType.Add(new CrownType
{
CrownFirstType = "Average",
CrownSubType = "Normal"
});
}
var useGenderedHeads = alienraceElement.XPathSelectElement("generalSettings/alienPartGenerator/UseGenderedHeads");
if (useGenderedHeads != null)
{
race.UseGenderedHeads = Convert.ToBoolean(useGenderedHeads.GetValue());
}
foreach (var path in alienraceElement.XPathSelectElement("graphicPaths/li").Elements())
{
race.GraphicPaths[path.Name.ToString().ToLower()] = path.GetValue();
}
RaceDictionary[race.DefName] = race;
}
foreach (var hairVars in docRoot.Descendants("HairDef"))
{
Hair hair = new Hair(
hairVars.Element("hairGender").GetValue(),
hairVars.Element("label").GetValue(),
hairVars.Element("defName").GetValue(),
hairVars.XPathSelectElements("hairTags/li"));
allHairs.Add(hair);
}
foreach (var traitDef in docRoot.Descendants("TraitDef"))
{
var traits = (from trait in traitDef.XPathSelectElements("degreeDatas/li")
select new TraitDef
{
Def = traitDef.Element("defName").Value,
Label = textInfo.ToTitleCase(trait.Element("label").Value),
Degree = trait.Element("degree") != null ? trait.Element("degree").Value : "0",
Description = trait.Element("description").Value
});
foreach (var trait in traits)
{
if (!Traits.ContainsKey(trait.Def + trait.Degree))
{
Traits.Add(trait.Def + trait.Degree, trait);
}
}
}
foreach (var hediffRoot in docRoot.XPathSelectElements("HediffDef/hediffClass/.."))
{
var parentClass = hediffRoot.Element("hediffClass").Value;
var parentName = hediffRoot.Attribute("Name") != null?hediffRoot.Attribute("Name").Value : "None";
Hediff coreHediff;
if (!Hediffs.TryGetValue(parentClass, out coreHediff))
{
Hediffs.Add(parentClass, coreHediff = new Hediff(parentClass, parentName));
}
var hediffs = (from hediff in docRoot.XPathSelectElements("//HediffDef[boolean(@ParentName) and not(@Abstract)]")
.Where(x => x.Attribute("ParentName").Value == parentName)
select new HediffDef
{
ParentClass = parentClass,
ParentName = hediff.Attribute("ParentName").Value,
Def = hediff.Element("defName").Value,
Label = textInfo.ToTitleCase(hediff.Element("label").Value),
});
foreach (var hediff in hediffs)
{
coreHediff.SubDiffs[hediff.Def] = hediff;
}
}
foreach (var def in docRoot.Descendants("AlienRace.BackstoryDef"))
{
if (def.Attribute("Abstract") == null || def.Attribute("Abstract").Value != "True")
{
Backstory backstory = new Backstory
{
Id = (string)def.Element("defName"),
Title = (string)def.Element("title"),
DisplayTitle = "(AlienRace)" + (string)def.Element("title"),
TitleShort = (string)def.Element("titleShort"),
Description = (string)def.Element("baseDescription"),
Slot = (string)def.Element("slot"),
SkillGains = new Dictionary <string, int>(),
WorkDisables = new List <string>()
};
foreach (var skillGain in def.XPathSelectElements("skillGains/li"))
{
string defName = (string)skillGain.Element("defName");
int amount = Convert.ToInt32(skillGain.Element("amount").GetValue());
backstory.SkillGains.Add(defName, amount);
}
foreach (var workDisables in def.XPathSelectElements("workDisables/li"))
{
backstory.WorkDisables.Add(workDisables.GetValue());
}
ResourceLoader.Backstories[backstory.Id] = backstory;
if (string.IsNullOrEmpty(backstory.Slot))
{
ResourceLoader.ChildhoodStories.Add(backstory);
ResourceLoader.AdulthoodStories.Add(backstory);
}
else if (backstory.Slot == "Childhood")
{
ResourceLoader.ChildhoodStories.Add(backstory);
}
else
{
ResourceLoader.AdulthoodStories.Add(backstory);
}
}
}
foreach (var relationDef in docRoot.XPathSelectElements("PawnRelationDef"))
{
var pawnRelation = new PawnRelationDef(relationDef);
PawnRelationDefs.Add(pawnRelation.DefName, pawnRelation);
}
foreach (var thingDef in docRoot.XPathSelectElements("ThingDef"))
{
ThingDef def = new ThingDef(thingDef);
if (ThingDefs.TryGetValue(def.Name, out ThingDef value))
{
value.updateDef(thingDef);
}
else
{
ThingDefs.Add(def.Name, def);
}
}
foreach (var bodyDefElement in docRoot.XPathSelectElements("BodyDef"))
{
BodyDef bodyDef = new BodyDef(bodyDefElement);
if (bodyDef.DefName != null)
{
BodyDefsByDef[bodyDef.DefName] = bodyDef;
}
}
fileStream.Close();
}
}
Dictionary <string, Race> tempRaceDic = RaceDictionary.Values.ToDictionary(x => x.Label.ToLower(), x => x);
foreach (Hair hair in allHairs)
{
List <Race> races = new List <Race>();
foreach (var hairTags in hair.HairTags)
{
Race race;
if (tempRaceDic.TryGetValue(hairTags, out race))
{
races.Add(race);
}
}
if (races.Count == 0)
{
races.Add(RaceDictionary["Human"]);
if (RaceDictionary.TryGetValue("Alien_Orassan", out var race))
{
races.Add(race);
}
}
foreach (var race in races)
{
if (hair.Gender.Equals("Any") || hair.Gender.Contains("Usually"))
{
foreach (var list in race.HairsByGender.Values.ToList())
{
list.Add(hair);
}
}
else
{
List <Hair> hairListForGender;
if (race.HairsByGender.TryGetValue(hair.Gender, out hairListForGender))
{
hairListForGender.Add(hair);
}
}
}
}
foreach (ThingDef thingDef in ThingDefs.Values)
{
if (thingDef.ParentName != null && ThingDefs.TryGetValue(thingDef.ParentName, out ThingDef value))
{
thingDef.Parent = value;
}
if (thingDef.DefName != null && !ThingDefsByDefName.ContainsKey(thingDef.DefName))
{
ThingDefsByDefName.Add(thingDef.DefName, thingDef);
}
foreach (string stuffPropCat in thingDef.StuffPropsCategories)
{
if (ThingDefsByStuffCategory.TryGetValue(stuffPropCat, out var list))
{
list.Add(thingDef);
}
else
{
List <ThingDef> thingDefs = new List <ThingDef>();
thingDefs.Add(thingDef);
ThingDefsByStuffCategory.Add(stuffPropCat, thingDefs);
}
}
}
ResourceLoader.ChildhoodStories = ResourceLoader.ChildhoodStories.OrderBy(x => x.DisplayTitle).ToList();
ResourceLoader.AdulthoodStories = ResourceLoader.AdulthoodStories.OrderBy(x => x.DisplayTitle).ToList();
}
/// <summary>
/// Called to setup the arena boundaries and bind to all of the physics stuff.
/// </summary>
public virtual void Bind()
{
float width = dimensions.X, height = dimensions.Y;
worldAABB = new AABB();
worldAABB.LowerBound.Set(-width / 2 - edgeTolerance, -edgeTolerance);
worldAABB.UpperBound.Set(width / 2 + edgeTolerance, height + edgeTolerance);
Vec2 gravity = new Vec2(this.gravity.X, this.gravity.Y);
bool doSleep = true;
world = new World(worldAABB, gravity, doSleep);
world.SetContactFilter(new ContactFilter());
BodyDef groundBodyDef = new BodyDef();
groundBodyDef.Position.Set(0.0f, 0.0f);
Body groundBody = world.CreateBody(groundBodyDef);
// Bottom
AddBoundaryBlock(groundBody, 0, -(boundaryThickness / 2), width + boundaryThickness * 2, boundaryThickness);
// Top
AddBoundaryBlock(groundBody, 0, height + boundaryThickness / 2, width + boundaryThickness * 2, boundaryThickness);
// Left
AddBoundaryBlock(groundBody, -(width / 2) - boundaryThickness / 2, height / 2, boundaryThickness, height + boundaryThickness * 2);
// Right
AddBoundaryBlock(groundBody, +(width / 2) + boundaryThickness / 2, height / 2, boundaryThickness, height + boundaryThickness * 2);
DebugDraw draw = new OpenTKDebugDraw();
draw.Flags = DebugDraw.DrawFlags.Shape;
if (Program.DebugDraw)
{
world.SetDebugDraw(draw);
}
world.SetContactListener(this);
// Old code for reference
/*
*
*
* _worldAABB = new AABB();
* _worldAABB.LowerBound.Set(-30.0f, -20.0f);
* _worldAABB.UpperBound.Set(30.0f, 40.0f);
* Vec2 gravity = new Vec2();
* gravity.Set(0.0f, -10.0f);
* bool doSleep = true;
* _world = new World(_worldAABB, gravity, doSleep);
* _world.SetContactFilter(new ContactFilter());
*
* BodyDef groundBodyDef = new BodyDef();
* groundBodyDef.Position.Set(0.0f, 0.0f);
*
* Body groundBody = _world.CreateBody(groundBodyDef);
*
* AddBlock(groundBody, 0, -5, 40, 10);
* AddBlock(groundBody, -20, 20, 1, 40);
* AddBlock(groundBody, 20, 20, 1, 40);
* AddBlock(groundBody, 0, 30, 40, 10);
*
* DebugDraw draw = new OpenTKDebugDraw();
* draw.Flags = DebugDraw.DrawFlags.Shape;
* if (Program.DebugDraw) {
* _world.SetDebugDraw(draw);
* }
*
* _world.SetContactListener(this);
*/
}
private BridgeTest()
{
Body ground;
{
BodyDef bd = new BodyDef();
ground = BodyFactory.CreateFromDef(World, bd);
EdgeShape shape = new EdgeShape(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
ground.AddFixture(shape);
}
{
PolygonShape shape = new PolygonShape(20.0f);
shape.SetAsBox(0.5f, 0.125f);
FixtureDef fd = new FixtureDef();
fd.Shape = shape;
fd.Friction = 0.2f;
RevoluteJointDef jd = new RevoluteJointDef();
Body prevBody = ground;
for (int i = 0; i < _count; ++i)
{
BodyDef bd = new BodyDef();
bd.Type = BodyType.Dynamic;
bd.Position = new Vector2(-14.5f + 1.0f * i, 5.0f);
Body body = BodyFactory.CreateFromDef(World, bd);
body.AddFixture(fd);
Vector2 anchor = new Vector2(-15.0f + 1.0f * i, 5.0f);
jd.Initialize(prevBody, body, anchor);
JointFactory.CreateFromDef(World, jd);
prevBody = body;
}
Vector2 anchor2 = new Vector2(-15.0f + 1.0f * _count, 5.0f);
jd.Initialize(prevBody, ground, anchor2);
JointFactory.CreateFromDef(World, jd);
}
for (int i = 0; i < 2; ++i)
{
Vertices vertices = new Vertices(3);
vertices.Add(new Vector2(-0.5f, 0.0f));
vertices.Add(new Vector2(0.5f, 0.0f));
vertices.Add(new Vector2(0.0f, 1.5f));
PolygonShape shape = new PolygonShape(vertices, 1.0f);
FixtureDef fd = new FixtureDef();
fd.Shape = shape;
BodyDef bd = new BodyDef();
bd.Type = BodyType.Dynamic;
bd.Position = new Vector2(-8.0f + 8.0f * i, 12.0f);
Body body = BodyFactory.CreateFromDef(World, bd);
body.AddFixture(fd);
}
for (int i = 0; i < 3; ++i)
{
CircleShape shape = new CircleShape(0.5f, 1.0f);
FixtureDef fd = new FixtureDef();
fd.Shape = shape;
BodyDef bd = new BodyDef();
bd.Type = BodyType.Dynamic;
bd.Position = new Vector2(-6.0f + 6.0f * i, 10.0f);
Body body = BodyFactory.CreateFromDef(World, bd);
body.AddFixture(fd);
}
}
public SliderCrank2()
{
Body ground;
{
var bd = new BodyDef();
ground = World.CreateBody(bd);
var shape = new EdgeShape();
shape.SetTwoSided(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
{
var prevBody = ground;
// Define crank.
{
var shape = new PolygonShape();
shape.SetAsBox(0.5f, 2.0f);
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position = new Vector2(0.0f, 7.0f);
var body = World.CreateBody(bd);
body.CreateFixture(shape, 2.0f);
var rjd = new RevoluteJointDef();
rjd.Initialize(prevBody, body, new Vector2(0.0f, 5.0f));
rjd.MotorSpeed = 1.0f * Settings.Pi;
rjd.MaxMotorTorque = 10000.0f;
rjd.EnableMotor = true;
_joint1 = (RevoluteJoint)World.CreateJoint(rjd);
prevBody = body;
}
// Define follower.
{
var shape = new PolygonShape();
shape.SetAsBox(0.5f, 4.0f);
var bd = new BodyDef {
BodyType = BodyType.DynamicBody, Position = new Vector2(0.0f, 13.0f)
};
var body = World.CreateBody(bd);
body.CreateFixture(shape, 2.0f);
var rjd = new RevoluteJointDef();
rjd.Initialize(prevBody, body, new Vector2(0.0f, 9.0f));
rjd.EnableMotor = false;
World.CreateJoint(rjd);
prevBody = body;
}
// Define piston
{
var shape = new PolygonShape();
shape.SetAsBox(1.5f, 1.5f);
var bd = new BodyDef
{
BodyType = BodyType.DynamicBody, FixedRotation = true,
Position = new Vector2(0.0f, 17.0f)
};
var body = World.CreateBody(bd);
body.CreateFixture(shape, 2.0f);
var rjd = new RevoluteJointDef();
rjd.Initialize(prevBody, body, new Vector2(0.0f, 17.0f));
World.CreateJoint(rjd);
var pjd = new PrismaticJointDef();
pjd.Initialize(ground, body, new Vector2(0.0f, 17.0f), new Vector2(0.0f, 1.0f));
pjd.MaxMotorForce = 1000.0f;
pjd.EnableMotor = true;
_joint2 = (PrismaticJoint)World.CreateJoint(pjd);
}
// Create a payload
{
var shape = new PolygonShape();
shape.SetAsBox(1.5f, 1.5f);
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position = new Vector2(0.0f, 23.0f);
var body = World.CreateBody(bd);
body.CreateFixture(shape, 2.0f);
}
}
}
public override bool CanHaveCapacity(BodyDef body)
{
return(body.HasPartWithTag(BodyPartTagDefOf.BloodPumpingSource));
}
public override bool CanHaveCapacity(BodyDef body)
{
return(true);
}
private void Create(int index)
{
if (_bodies[_bodyIndex] != null)
{
_world.DestroyBody(_bodies[_bodyIndex]);
_bodies[_bodyIndex] = null;
}
BodyDef bd = new BodyDef();
float x = Rand.RandomFloat(-10.0f, 10.0f);
float y = Rand.RandomFloat(0.0f, 20.0f);
bd.position = new Vector2(x, y);
bd.angle = Rand.RandomFloat(-(float)Math.PI, (float)Math.PI);
bd.userData = index;
if (index == 4)
{
bd.angularDamping = 0.02f;
}
_bodies[_bodyIndex] = _world.CreateBody(bd);
if (index < 4)
{
FixtureDef fd = new FixtureDef();
fd.shape = _polygons[index];
fd.friction = 0.3f;
_bodies[_bodyIndex].CreateFixture(fd);
}
else
{
FixtureDef fd = new FixtureDef();
fd.shape = _circle;
fd.friction = 0.3f;
_bodies[_bodyIndex].CreateFixture(fd);
}
_bodyIndex = (_bodyIndex + 1) % e_maxBodies;
}
Web()
{
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = _world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.5f, 0.5f);
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(-5.0f, 5.0f);
_bodies[0] = _world.CreateBody(bd);
_bodies[0].CreateFixture(shape, 5.0f);
bd.position = new Vector2(5.0f, 5.0f);
_bodies[1] = _world.CreateBody(bd);
_bodies[1].CreateFixture(shape, 5.0f);
bd.position = new Vector2(5.0f, 15.0f);
_bodies[2] = _world.CreateBody(bd);
_bodies[2].CreateFixture(shape, 5.0f);
bd.position = new Vector2(-5.0f, 15.0f);
_bodies[3] = _world.CreateBody(bd);
_bodies[3].CreateFixture(shape, 5.0f);
DistanceJointDef jd = new DistanceJointDef();
Vector2 p1, p2, d;
jd.frequencyHz = 4.0f;
jd.dampingRatio = 0.5f;
jd.bodyA = ground;
jd.bodyB = _bodies[0];
jd.localAnchorA = new Vector2(-10.0f, 0.0f);
jd.localAnchorB = new Vector2(-0.5f, -0.5f);
p1 = jd.bodyA.GetWorldPoint(jd.localAnchorA);
p2 = jd.bodyB.GetWorldPoint(jd.localAnchorB);
d = p2 - p1;
jd.length = d.Length();
_joints[0] = _world.CreateJoint(jd);
jd.bodyA = ground;
jd.bodyB = _bodies[1];
jd.localAnchorA = new Vector2(10.0f, 0.0f);
jd.localAnchorB = new Vector2(0.5f, -0.5f);
p1 = jd.bodyA.GetWorldPoint(jd.localAnchorA);
p2 = jd.bodyB.GetWorldPoint(jd.localAnchorB);
d = p2 - p1;
jd.length = d.Length();
_joints[1] = _world.CreateJoint(jd);
jd.bodyA = ground;
jd.bodyB = _bodies[2];
jd.localAnchorA = new Vector2(10.0f, 20.0f);
jd.localAnchorB = new Vector2(0.5f, 0.5f);
p1 = jd.bodyA.GetWorldPoint(jd.localAnchorA);
p2 = jd.bodyB.GetWorldPoint(jd.localAnchorB);
d = p2 - p1;
jd.length = d.Length();
_joints[2] = _world.CreateJoint(jd);
jd.bodyA = ground;
jd.bodyB = _bodies[3];
jd.localAnchorA = new Vector2(-10.0f, 20.0f);
jd.localAnchorB = new Vector2(-0.5f, 0.5f);
p1 = jd.bodyA.GetWorldPoint(jd.localAnchorA);
p2 = jd.bodyB.GetWorldPoint(jd.localAnchorB);
d = p2 - p1;
jd.length = d.Length();
_joints[3] = _world.CreateJoint(jd);
jd.bodyA = _bodies[0];
jd.bodyB = _bodies[1];
jd.localAnchorA = new Vector2(0.5f, 0.0f);
jd.localAnchorB = new Vector2(-0.5f, 0.0f);;
p1 = jd.bodyA.GetWorldPoint(jd.localAnchorA);
p2 = jd.bodyB.GetWorldPoint(jd.localAnchorB);
d = p2 - p1;
jd.length = d.Length();
_joints[4] = _world.CreateJoint(jd);
jd.bodyA = _bodies[1];
jd.bodyB = _bodies[2];
jd.localAnchorA = new Vector2(0.0f, 0.5f);
jd.localAnchorB = new Vector2(0.0f, -0.5f);
p1 = jd.bodyA.GetWorldPoint(jd.localAnchorA);
p2 = jd.bodyB.GetWorldPoint(jd.localAnchorB);
d = p2 - p1;
jd.length = d.Length();
_joints[5] = _world.CreateJoint(jd);
jd.bodyA = _bodies[2];
jd.bodyB = _bodies[3];
jd.localAnchorA = new Vector2(-0.5f, 0.0f);
jd.localAnchorB = new Vector2(0.5f, 0.0f);
p1 = jd.bodyA.GetWorldPoint(jd.localAnchorA);
p2 = jd.bodyB.GetWorldPoint(jd.localAnchorB);
d = p2 - p1;
jd.length = d.Length();
_joints[6] = _world.CreateJoint(jd);
jd.bodyA = _bodies[3];
jd.bodyB = _bodies[0];
jd.localAnchorA = new Vector2(0.0f, -0.5f);
jd.localAnchorB = new Vector2(0.0f, 0.5f);
p1 = jd.bodyA.GetWorldPoint(jd.localAnchorA);
p2 = jd.bodyB.GetWorldPoint(jd.localAnchorB);
d = p2 - p1;
jd.length = d.Length();
_joints[7] = _world.CreateJoint(jd);
}
}
public Test()
{
Vector2 gravity;
gravity = new Vector2(0.0f, -10.0f);
bool doSleep = true;
_world = new World(gravity, doSleep);
_textLine = 30;
_destructionListener.test = this;
_world.DestructionListener = _destructionListener;
_world.ContactListener = this;
_world.DebugDraw = _debugDraw;
_bombSpawning = false;
_stepCount = 0;
BodyDef bodyDef = new BodyDef();
_groundBody = _world.CreateBody(bodyDef);
}
public CollisionFiltering()
{
// Ground body
{
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
FixtureDef sd = new FixtureDef();
sd.shape = shape;
sd.friction = 0.3f;
BodyDef bd = new BodyDef();
Body ground = _world.CreateBody(bd);
ground.CreateFixture(sd);
}
// Small triangle
Vector2[] vertices = new Vector2[3];
vertices[0] = new Vector2(-1.0f, 0.0f);
vertices[1] = new Vector2(1.0f, 0.0f);
vertices[2] = new Vector2(0.0f, 2.0f);
PolygonShape polygon = new PolygonShape();
polygon.Set(vertices, 3);
FixtureDef triangleShapeDef = new FixtureDef();
triangleShapeDef.shape = polygon;
triangleShapeDef.density = 1.0f;
triangleShapeDef.filter.groupIndex = k_smallGroup;
triangleShapeDef.filter.categoryBits = k_triangleCategory;
triangleShapeDef.filter.maskBits = k_triangleMask;
BodyDef triangleBodyDef = new BodyDef();
triangleBodyDef.type = BodyType.Dynamic;
triangleBodyDef.position = new Vector2(-5.0f, 2.0f);
Body body1 = _world.CreateBody(triangleBodyDef);
body1.CreateFixture(triangleShapeDef);
// Large triangle (recycle definitions)
vertices[0] *= 2.0f;
vertices[1] *= 2.0f;
vertices[2] *= 2.0f;
polygon.Set(vertices, 3);
triangleShapeDef.filter.groupIndex = k_largeGroup;
triangleBodyDef.position = new Vector2(-5.0f, 6.0f);
triangleBodyDef.fixedRotation = true; // look at me!
Body body2 = _world.CreateBody(triangleBodyDef);
body2.CreateFixture(triangleShapeDef);
{
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(-5.0f, 10.0f);
Body body = _world.CreateBody(bd);
PolygonShape p = new PolygonShape();
p.SetAsBox(0.5f, 1.0f);
body.CreateFixture(p, 1.0f);
PrismaticJointDef jd = new PrismaticJointDef();
jd.bodyA = body2;
jd.bodyB = body;
jd.enableLimit = true;
jd.localAnchorA = new Vector2(0.0f, 4.0f);
jd.localAnchorB = Vector2.Zero;
jd.localAxis1 = new Vector2(0.0f, 1.0f);
jd.lowerTranslation = -1.0f;
jd.upperTranslation = 1.0f;
_world.CreateJoint(jd);
}
// Small box
polygon.SetAsBox(1.0f, 0.5f);
FixtureDef boxShapeDef = new FixtureDef();
boxShapeDef.shape = polygon;
boxShapeDef.density = 1.0f;
boxShapeDef.restitution = 0.1f;
boxShapeDef.filter.groupIndex = k_smallGroup;
boxShapeDef.filter.categoryBits = k_boxCategory;
boxShapeDef.filter.maskBits = k_boxMask;
BodyDef boxBodyDef = new BodyDef();
boxBodyDef.type = BodyType.Dynamic;
boxBodyDef.position = new Vector2(0.0f, 2.0f);
Body body3 = _world.CreateBody(boxBodyDef);
body3.CreateFixture(boxShapeDef);
// Large box (recycle definitions)
polygon.SetAsBox(2.0f, 1.0f);
boxShapeDef.filter.groupIndex = k_largeGroup;
boxBodyDef.position = new Vector2(0.0f, 6.0f);
Body body4 = _world.CreateBody(boxBodyDef);
body4.CreateFixture(boxShapeDef);
// Small circle
CircleShape circle = new CircleShape();
circle._radius = 1.0f;
FixtureDef circleShapeDef = new FixtureDef();
circleShapeDef.shape = circle;
circleShapeDef.density = 1.0f;
circleShapeDef.filter.groupIndex = k_smallGroup;
circleShapeDef.filter.categoryBits = k_circleCategory;
circleShapeDef.filter.maskBits = k_circleMask;
BodyDef circleBodyDef = new BodyDef();
circleBodyDef.type = BodyType.Dynamic;
circleBodyDef.position = new Vector2(5.0f, 2.0f);
Body body5 = _world.CreateBody(circleBodyDef);
body5.CreateFixture(circleShapeDef);
// Large circle
circle._radius *= 2.0f;
circleShapeDef.filter.groupIndex = k_largeGroup;
circleBodyDef.position = new Vector2(5.0f, 6.0f);
Body body6 = _world.CreateBody(circleBodyDef);
body6.CreateFixture(circleShapeDef);
}
private void Start()
{
// Ground body
{
var bd = new BodyDef();
var ground = World.CreateBody(bd);
var shape = new EdgeShape();
shape.Set(new Vector2(-20.0f, 0.0f), new Vector2(20.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
// Collinear edges with no adjacency information.
// This shows the problematic case where a box shape can hit
// an internal vertex.
{
var bd = new BodyDef();
var ground = World.CreateBody(bd);
var shape = new EdgeShape();
shape.Set(new Vector2(-8.0f, 1.0f), new Vector2(-6.0f, 1.0f));
ground.CreateFixture(shape, 0.0f);
shape.Set(new Vector2(-6.0f, 1.0f), new Vector2(-4.0f, 1.0f));
ground.CreateFixture(shape, 0.0f);
shape.Set(new Vector2(-4.0f, 1.0f), new Vector2(-2.0f, 1.0f));
ground.CreateFixture(shape, 0.0f);
}
// Chain shape
{
var bd = new BodyDef {
Angle = 0.25f * Settings.Pi
};
var ground = World.CreateBody(bd);
var vs = new Vector2[4]
{
new Vector2(5.0f, 7.0f),
new Vector2(6.0f, 8.0f),
new Vector2(7.0f, 8.0f),
new Vector2(8.0f, 7.0f)
};
var shape = new ChainShape();
shape.CreateChain(vs);
ground.CreateFixture(shape, 0.0f);
}
// Square tiles. This shows that adjacency shapes may
// have non-smooth collision. There is no solution
// to this problem.
{
var bd = new BodyDef();
var ground = World.CreateBody(bd);
var shape = new PolygonShape();
shape.SetAsBox(1.0f, 1.0f, new Vector2(4.0f, 3.0f), 0.0f);
ground.CreateFixture(shape, 0.0f);
shape.SetAsBox(1.0f, 1.0f, new Vector2(6.0f, 3.0f), 0.0f);
ground.CreateFixture(shape, 0.0f);
shape.SetAsBox(1.0f, 1.0f, new Vector2(8.0f, 3.0f), 0.0f);
ground.CreateFixture(shape, 0.0f);
}
// Square made from an edge loop. Collision should be smooth.
{
var bd = new BodyDef();
var ground = World.CreateBody(bd);
var vs = new Vector2[4]
{
new Vector2(-1.0f, 3.0f),
new Vector2(1.0f, 3.0f),
new Vector2(1.0f, 5.0f),
new Vector2(-1.0f, 5.0f)
};
var shape = new ChainShape();
shape.CreateLoop(vs);
ground.CreateFixture(shape, 0.0f);
}
// Edge loop. Collision should be smooth.
{
var bd = new BodyDef {
Position = new Vector2(-10.0f, 4.0f)
};
var ground = World.CreateBody(bd);
var vs = new Vector2[10]
{
new Vector2(0.0f, 0.0f),
new Vector2(6.0f, 0.0f),
new Vector2(6.0f, 2.0f),
new Vector2(4.0f, 1.0f),
new Vector2(2.0f, 2.0f),
new Vector2(0.0f, 2.0f),
new Vector2(-2.0f, 2.0f),
new Vector2(-4.0f, 3.0f),
new Vector2(-6.0f, 2.0f),
new Vector2(-6.0f, 0.0f)
};
var shape = new ChainShape();
shape.CreateLoop(vs);
ground.CreateFixture(shape, 0.0f);
}
// Square character 1
{
var bd = new BodyDef
{
Position = new Vector2(-3.0f, 8.0f),
BodyType = BodyType.DynamicBody,
FixedRotation = true,
AllowSleep = false
};
var body = World.CreateBody(bd);
var shape = new PolygonShape();
shape.SetAsBox(0.5f, 0.5f);
var fd = new FixtureDef {
Shape = shape, Density = 20.0f
};
body.CreateFixture(fd);
}
// Square character 2
{
var bd = new BodyDef
{
Position = new Vector2(-5.0f, 5.0f),
BodyType = BodyType.DynamicBody,
FixedRotation = true,
AllowSleep = false
};
var body = World.CreateBody(bd);
var shape = new PolygonShape();
shape.SetAsBox(0.25f, 0.25f);
var fd = new FixtureDef {
Shape = shape, Density = 20.0f
};
body.CreateFixture(fd);
}
// Hexagon character
{
var bd = new BodyDef
{
Position = new Vector2(-5.0f, 8.0f),
BodyType = BodyType.DynamicBody,
FixedRotation = true,
AllowSleep = false
};
var body = World.CreateBody(bd);
Single angle = 0.0f;
Single delta = Settings.Pi / 3.0f;
var vertices = new Vector2[6];
for (var i = 0; i < 6; ++i)
{
vertices[i].Set(0.5f * (Single)Math.Cos(angle), 0.5f * (Single)Math.Sin(angle));
angle += delta;
}
var shape = new PolygonShape();
shape.Set(vertices);
var fd = new FixtureDef {
Shape = shape, Density = 20.0f
};
body.CreateFixture(fd);
}
// Circle character
{
var bd = new BodyDef
{
Position = new Vector2(3.0f, 5.0f),
BodyType = BodyType.DynamicBody,
FixedRotation = true,
AllowSleep = false
};
var body = World.CreateBody(bd);
var shape = new CircleShape {
Radius = 0.5f
};
var fd = new FixtureDef {
Shape = shape, Density = 20.0f
};
body.CreateFixture(fd);
}
// Circle character
{
var bd = new BodyDef
{
Position = new Vector2(-7.0f, 6.0f),
BodyType = BodyType.DynamicBody,
AllowSleep = false
};
_character = World.CreateBody(bd);
var shape = new CircleShape {
Radius = 0.25f
};
var fd = new FixtureDef
{
Shape = shape,
Density = 20.0f,
Friction = 1.0f
};
_character.CreateFixture(fd);
}
DrawString("This tests various character collision shapes.");
DrawString("Limitation: square and hexagon can snag on aligned boxes.");
DrawString("Feature: edge chains have smooth collision inside and out.");
}
/// <summary>
/// Add objects to the Box2d world.
/// </summary>
protected override void PopulateWorld()
{
// ==== Define the ground body ====
BodyDef groundBodyDef = new BodyDef();
groundBodyDef.Position.Set(_trackLengthHalf, -1f);
// Call the body factory which creates the ground box shape.
// The body is also added to the world.
Body groundBody = _world.CreateBody(groundBodyDef);
// Define the ground box shape.
PolygonDef groundShapeDef = new PolygonDef();
// The extents are the half-widths of the box.
groundShapeDef.SetAsBox(_trackLengthHalf + 1f, 1f);
groundShapeDef.Friction = _simParams._defaultFriction;
groundShapeDef.Restitution = _simParams._defaultRestitution;
groundShapeDef.Filter.CategoryBits = 0x3;
// Add the ground shape to the ground body.
groundBody.CreateShape(groundShapeDef);
// Add some small mounds/bumps to the ground.
for (float x = -1f; x < 40f; x += 0.4f + ((_rng.NextFloat() - 0.5f) * 0.15f))
{
WalkerWorldUtils.CreateMound(_world, x, 0f, _simParams._defaultFriction, _simParams._defaultRestitution);
}
// ==== Define walker torso.
float walkerX = 0f;
float walkerY = 1.30f;// + ((float)_rng.NextDouble() * 0.1f);
BodyDef torsoBodyDef = new BodyDef();
torsoBodyDef.Position.Set(walkerX, walkerY);
torsoBodyDef.IsBullet = true;
// Create walker torso.
_torsoBody = _world.CreateBody(torsoBodyDef);
PolygonDef torsoShapeDef = new PolygonDef();
torsoShapeDef.SetAsBox(0.10f, 0.30f);
torsoShapeDef.Friction = _simParams._defaultFriction;
torsoShapeDef.Restitution = 0f;
torsoShapeDef.Density = 2f;
torsoShapeDef.Filter.CategoryBits = 0x2;
_torsoBody.CreateShape(torsoShapeDef);
_torsoBody.SetMassFromShapes();
// ===== Create legs.
// Leg joint definition.
RevoluteJointDef jointDef = new RevoluteJointDef();
jointDef.CollideConnected = false;
jointDef.EnableMotor = true;
jointDef.MaxMotorTorque = 0f;
// Other re-usable stuff .
const float legRadius = 0.05f; // Half the thickness of the leg
Vec2 upperLegPosBase = new Vec2(walkerX, walkerY - 0.25f);
Vec2 lowerLegPosBase = new Vec2(walkerX, walkerY - 0.75f);
// ===== Create left leg.
// Upper leg.
Body upperLeftLegBody = CreatePole(upperLegPosBase, 0.5f, (float)SysMath.PI, legRadius, 2f, 0x1);
// Join to torso (hip joint)
jointDef.Initialize(_torsoBody, upperLeftLegBody, upperLegPosBase);
_leftHipJoint = (RevoluteJoint)_world.CreateJoint(jointDef);
// Lower leg.
_leftLowerLegBody = CreatePole(lowerLegPosBase, __lowerLegLength, (float)SysMath.PI, legRadius, 2f, 0x1);
// Join to upper leg (knee joint)
jointDef.Initialize(upperLeftLegBody, _leftLowerLegBody, lowerLegPosBase);
_leftKneeJoint = (RevoluteJoint)_world.CreateJoint(jointDef);
// ===== Create right leg.
// Upper leg.
Body upperRightLegBody = CreatePole(upperLegPosBase, 0.5f, (float)SysMath.PI, legRadius, 2f, 0x1);
// Join to torso (hip joint)
jointDef.Initialize(_torsoBody, upperRightLegBody, upperLegPosBase);
_rightHipJoint = (RevoluteJoint)_world.CreateJoint(jointDef);
// Lower leg.
_rightLowerLegBody = CreatePole(lowerLegPosBase, __lowerLegLength, (float)SysMath.PI, legRadius, 2f, 0x1);
// Join to upper leg (knee joint)
jointDef.Initialize(upperRightLegBody, _rightLowerLegBody, lowerLegPosBase);
_rightKneeJoint = (RevoluteJoint)_world.CreateJoint(jointDef);
}
private void CreateLeg(float s, Vector2 wheelAnchor)
{
Vector2 p1 = new Vector2(5.4f * s, -6.1f);
Vector2 p2 = new Vector2(7.2f * s, -1.2f);
Vector2 p3 = new Vector2(4.3f * s, -1.9f);
Vector2 p4 = new Vector2(3.1f * s, 0.8f);
Vector2 p5 = new Vector2(6.0f * s, 1.5f);
Vector2 p6 = new Vector2(2.5f * s, 3.7f);
FixtureDef fd1 = new FixtureDef(), fd2 = new FixtureDef();
fd1.Filter.Group = -1;
fd2.Filter.Group = -1;
PolygonShape poly1 = new PolygonShape(1.0f), poly2 = new PolygonShape(1.0f);
if (s > 0.0f)
{
Vertices vertices = new Vertices(3);
vertices.Add(p1);
vertices.Add(p2);
vertices.Add(p3);
poly1.Vertices = vertices;
vertices[0] = Vector2.Zero;
vertices[1] = p5 - p4;
vertices[2] = p6 - p4;
poly2.Vertices = vertices;
}
else
{
Vertices vertices = new Vertices(3);
vertices.Add(p1);
vertices.Add(p3);
vertices.Add(p2);
poly1.Vertices = vertices;
vertices[0] = Vector2.Zero;
vertices[1] = p6 - p4;
vertices[2] = p5 - p4;
poly2.Vertices = vertices;
}
fd1.Shape = poly1;
fd2.Shape = poly2;
BodyDef bd1 = new BodyDef(), bd2 = new BodyDef();
bd1.Type = BodyType.Dynamic;
bd2.Type = BodyType.Dynamic;
bd1.Position = _offset;
bd2.Position = p4 + _offset;
bd1.AngularDamping = 10.0f;
bd2.AngularDamping = 10.0f;
Body body1 = BodyFactory.CreateFromDef(World, bd1);
Body body2 = BodyFactory.CreateFromDef(World, bd2);
body1.AddFixture(fd1);
body2.AddFixture(fd2);
{
DistanceJointDef jd = 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.
float dampingRatio = 0.5f;
float frequencyHz = 10.0f;
jd.Initialize(body1, body2, p2 + _offset, p5 + _offset);
JointHelper.LinearStiffness(frequencyHz, dampingRatio, jd.BodyA, jd.BodyB, out float stiffness, out float damping);
jd.Stiffness = stiffness;
jd.Damping = damping;
JointFactory.CreateFromDef(World, jd);
jd.Initialize(body1, body2, p3 + _offset, p4 + _offset);
JointHelper.LinearStiffness(frequencyHz, dampingRatio, jd.BodyA, jd.BodyB, out stiffness, out damping);
jd.Stiffness = stiffness;
jd.Damping = damping;
JointFactory.CreateFromDef(World, jd);
jd.Initialize(body1, _wheel, p3 + _offset, wheelAnchor + _offset);
JointHelper.LinearStiffness(frequencyHz, dampingRatio, jd.BodyA, jd.BodyB, out stiffness, out damping);
jd.Stiffness = stiffness;
jd.Damping = damping;
JointFactory.CreateFromDef(World, jd);
jd.Initialize(body2, _wheel, p6 + _offset, wheelAnchor + _offset);
JointHelper.LinearStiffness(frequencyHz, dampingRatio, jd.BodyA, jd.BodyB, out stiffness, out damping);
jd.Stiffness = stiffness;
jd.Damping = damping;
JointFactory.CreateFromDef(World, jd);
}
{
RevoluteJointDef jd = new RevoluteJointDef();
jd.Initialize(body2, _chassis, p4 + _offset);
JointFactory.CreateFromDef(World, jd);
}
}
TheoJansen()
{
_offset = new Vector2(0.0f, 8.0f);
_motorSpeed = 2.0f;
_motorOn = true;
Vector2 pivot = new Vector2(0.0f, 0.8f);
// Ground
{
BodyDef bd = new BodyDef();
Body ground = _world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vector2(-50.0f, 0.0f), new Vector2(50.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
shape.SetAsEdge(new Vector2(-50.0f, 0.0f), new Vector2(-50.0f, 10.0f));
ground.CreateFixture(shape, 0.0f);
shape.SetAsEdge(new Vector2(50.0f, 0.0f), new Vector2(50.0f, 10.0f));
ground.CreateFixture(shape, 0.0f);
}
// Balls
for (int i = 0; i < 40; ++i)
{
CircleShape shape = new CircleShape();
shape._radius = 0.25f;
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(-40.0f + 2.0f * i, 0.5f);
Body body = _world.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 = pivot + _offset;
_chassis = _world.CreateBody(bd);
_chassis.CreateFixture(sd);
}
{
CircleShape shape = new CircleShape();
shape._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 = pivot + _offset;
_wheel = _world.CreateBody(bd);
_wheel.CreateFixture(sd);
}
{
RevoluteJointDef jd = new RevoluteJointDef();
jd.Initialize(_wheel, _chassis, pivot + _offset);
jd.collideConnected = false;
jd.motorSpeed = _motorSpeed;
jd.maxMotorTorque = 400.0f;
jd.enableMotor = _motorOn;
_motorJoint = (RevoluteJoint)_world.CreateJoint(jd);
}
Vector2 wheelAnchor;
wheelAnchor = pivot + new Vector2(0.0f, -0.8f);
CreateLeg(-1.0f, wheelAnchor);
CreateLeg(1.0f, wheelAnchor);
_wheel.SetTransform(_wheel.GetPosition(), 120.0f * (float)Settings.b2_pi / 180.0f);
CreateLeg(-1.0f, wheelAnchor);
CreateLeg(1.0f, wheelAnchor);
_wheel.SetTransform(_wheel.GetPosition(), -120.0f * (float)Settings.b2_pi / 180.0f);
CreateLeg(-1.0f, wheelAnchor);
CreateLeg(1.0f, wheelAnchor);
}
private TheoJansenTest()
{
_offset = new Vector2(0.0f, 8.0f);
_motorSpeed = 2.0f;
_motorOn = true;
Vector2 pivot = new Vector2(0.0f, 0.8f);
// Ground
{
BodyDef bd = new BodyDef();
Body ground = BodyFactory.CreateFromDef(World, bd);
EdgeShape shape = new EdgeShape();
shape.SetTwoSided(new Vector2(-50.0f, 0.0f), new Vector2(50.0f, 0.0f));
ground.AddFixture(shape);
shape.SetTwoSided(new Vector2(-50.0f, 0.0f), new Vector2(-50.0f, 10.0f));
ground.AddFixture(shape);
shape.SetTwoSided(new Vector2(50.0f, 0.0f), new Vector2(50.0f, 10.0f));
ground.AddFixture(shape);
}
// Balls
for (int i = 0; i < 40; ++i)
{
CircleShape shape = new CircleShape(1.0f);
shape.Radius = 0.25f;
BodyDef bd = new BodyDef();
bd.Type = BodyType.Dynamic;
bd.Position = new Vector2(-40.0f + 2.0f * i, 0.5f);
Body body = BodyFactory.CreateFromDef(World, bd);
body.AddFixture(shape);
}
// Chassis
{
PolygonShape shape = new PolygonShape(1.0f);
shape.SetAsBox(2.5f, 1.0f);
FixtureDef sd = new FixtureDef();
sd.Shape = shape;
sd.Filter.Group = -1;
BodyDef bd = new BodyDef();
bd.Type = BodyType.Dynamic;
bd.Position = pivot + _offset;
_chassis = BodyFactory.CreateFromDef(World, bd);
_chassis.AddFixture(sd);
}
{
CircleShape shape = new CircleShape(1.0f);
shape.Radius = 1.6f;
FixtureDef sd = new FixtureDef();
sd.Shape = shape;
sd.Filter.Group = -1;
BodyDef bd = new BodyDef();
bd.Type = BodyType.Dynamic;
bd.Position = pivot + _offset;
_wheel = BodyFactory.CreateFromDef(World, bd);
_wheel.AddFixture(sd);
}
{
RevoluteJointDef jd = new RevoluteJointDef();
jd.Initialize(_wheel, _chassis, pivot + _offset);
jd.CollideConnected = false;
jd.MotorSpeed = _motorSpeed;
jd.MaxMotorTorque = 400.0f;
jd.EnableMotor = _motorOn;
_motorJoint = (RevoluteJoint)JointFactory.CreateFromDef(World, jd);
}
Vector2 wheelAnchor;
wheelAnchor = pivot + new Vector2(0.0f, -0.8f);
CreateLeg(-1.0f, wheelAnchor);
CreateLeg(1.0f, wheelAnchor);
_wheel.SetTransform(_wheel.Position, 120.0f * MathConstants.Pi / 180.0f);
CreateLeg(-1.0f, wheelAnchor);
CreateLeg(1.0f, wheelAnchor);
_wheel.SetTransform(_wheel.Position, -120.0f * MathConstants.Pi / 180.0f);
CreateLeg(-1.0f, wheelAnchor);
CreateLeg(1.0f, wheelAnchor);
}
public override void Keyboard(KeyboardState state, KeyboardState oldState)
{
if (state.IsKeyDown(Keys.OemComma) && oldState.IsKeyUp(Keys.OemComma))
{
if (_bullet != null)
{
_world.DestroyBody(_bullet);
_bullet = null;
}
{
CircleShape shape = new CircleShape();
shape._radius = 0.25f;
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 20.0f;
fd.restitution = 0.05f;
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.bullet = true;
bd.position = new Vector2(-31.0f, 5.0f);
_bullet = _world.CreateBody(bd);
_bullet.CreateFixture(fd);
_bullet.SetLinearVelocity(new Vector2(400.0f, 0.0f));
}
}
}
public Cantilever()
{
Body ground;
{
var bd = new BodyDef();
ground = World.CreateBody(bd);
var shape = new EdgeShape();
shape.SetTwoSided(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
{
var shape = new PolygonShape();
shape.SetAsBox(0.5f, 0.125f);
var fd = new FixtureDef();
fd.Shape = shape;
fd.Density = 20.0f;
var jd = new WeldJointDef();
var prevBody = ground;
for (var i = 0; i < Count; ++i)
{
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position.Set(-14.5f + 1.0f * i, 5.0f);
var body = World.CreateBody(bd);
body.CreateFixture(fd);
var anchor = new Vector2(-15.0f + 1.0f * i, 5.0f);
jd.Initialize(prevBody, body, anchor);
World.CreateJoint(jd);
prevBody = body;
}
}
{
var shape = new PolygonShape();
shape.SetAsBox(1.0f, 0.125f);
var fd = new FixtureDef();
fd.Shape = shape;
fd.Density = 20.0f;
var jd = new WeldJointDef();
jd.FrequencyHz = 5.0f;
jd.DampingRatio = 0.7f;
var prevBody = ground;
for (var i = 0; i < 3; ++i)
{
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position.Set(-14.0f + 2.0f * i, 15.0f);
var body = World.CreateBody(bd);
body.CreateFixture(fd);
var anchor = new Vector2(-15.0f + 2.0f * i, 15.0f);
jd.Initialize(prevBody, body, anchor);
World.CreateJoint(jd);
prevBody = body;
}
}
{
var shape = new PolygonShape();
shape.SetAsBox(0.5f, 0.125f);
var fd = new FixtureDef();
fd.Shape = shape;
fd.Density = 20.0f;
var jd = new WeldJointDef();
var prevBody = ground;
for (var i = 0; i < Count; ++i)
{
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position.Set(-4.5f + 1.0f * i, 5.0f);
var body = World.CreateBody(bd);
body.CreateFixture(fd);
if (i > 0)
{
var anchor = new Vector2(-5.0f + 1.0f * i, 5.0f);
jd.Initialize(prevBody, body, anchor);
World.CreateJoint(jd);
}
prevBody = body;
}
}
{
var shape = new PolygonShape();
shape.SetAsBox(0.5f, 0.125f);
var fd = new FixtureDef();
fd.Shape = shape;
fd.Density = 20.0f;
var jd = new WeldJointDef();
jd.FrequencyHz = 8.0f;
jd.DampingRatio = 0.7f;
var prevBody = ground;
for (var i = 0; i < Count; ++i)
{
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position.Set(5.5f + 1.0f * i, 10.0f);
var body = World.CreateBody(bd);
body.CreateFixture(fd);
if (i > 0)
{
var anchor = new Vector2(5.0f + 1.0f * i, 10.0f);
jd.Initialize(prevBody, body, anchor);
World.CreateJoint(jd);
}
prevBody = body;
}
}
for (var i = 0; i < 2; ++i)
{
var vertices = new Vector2 [3];
vertices[0].Set(-0.5f, 0.0f);
vertices[1].Set(0.5f, 0.0f);
vertices[2].Set(0.0f, 1.5f);
var shape = new PolygonShape();
shape.Set(vertices);
var fd = new FixtureDef();
fd.Shape = shape;
fd.Density = 1.0f;
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position.Set(-8.0f + 8.0f * i, 12.0f);
var body = World.CreateBody(bd);
body.CreateFixture(fd);
}
for (var i = 0; i < 2; ++i)
{
var shape = new CircleShape();
shape.Radius = 0.5f;
var fd = new FixtureDef();
fd.Shape = shape;
fd.Density = 1.0f;
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position.Set(-6.0f + 6.0f * i, 10.0f);
var body = World.CreateBody(bd);
body.CreateFixture(fd);
}
}
private void CheckImpudentDefense(float iterationDuration)
{
if (this.scored || !this.shouldAttack)
{
return;
}
bool playerLeftDefends, playerRightDefends;
if (this.playerLeft.GetPosition().X < 4.24f && this.playerRight.GetPosition().X * 1 > 4.24f)
{
playerLeftDefends = true;
}
else
{
playerLeftDefends = false;
}
if (this.playerRight.GetPosition().X > 9.41f && this.playerLeft.GetPosition().X * 1 < 9.41f)
{
playerRightDefends = true;
}
else
{
playerRightDefends = false;
}
if (playerLeftDefends && this.leftPostRaiseCount <= 3)
{
this.playerLeftTimers.Defend += iterationDuration;
if (this.playerLeftTimers.Defend < 0)
{
Vec2 temp = this.goalLeft.GetPosition();
this.world.DestroyBody(this.goalLeft);
BodyDef goalDef = new BodyDef()
{
Position = new Vec2(temp.X, temp.Y - 0.5f)
};
this.goalLeft = this.world.CreateBody(goalDef);
CircleDef post = new CircleDef()
{
Radius = 0.075f,
LocalPosition = new Vec2(0.425f, 0),
Density = 1,
Friction = 1,
Restitution = 0
};
this.goalLeft.CreateShape(post);
PolygonDef net = new PolygonDef()
{
Density = 1,
Friction = 1,
Restitution = 0
};
net.SetAsBox(0.46f, 0.001f, new Vec2(-0.04f, -0.069f), 0);
this.goalLeft.CreateShape(net);
++this.leftPostRaiseCount;
this.playerLeftTimers.Defend = 12000;
this.LeftPostRaised?.Invoke();
}
}
if (playerRightDefends && this.rightPostRaiseCount <= 3)
{
this.playerRightTimers.Defend += iterationDuration;
if (this.playerRightTimers.Defend < 0)
{
Vec2 temp = this.goalRight.GetPosition();
this.world.DestroyBody(this.goalRight);
BodyDef goalDef = new BodyDef()
{
Position = new Vec2(temp.X, temp.Y - 0.5f)
};
this.goalRight = this.world.CreateBody(goalDef);
CircleDef post = new CircleDef()
{
Radius = 0.075f,
LocalPosition = new Vec2(-0.425f, 0),
Density = 1,
Friction = 1,
Restitution = 0
};
this.goalRight.CreateShape(post);
PolygonDef net = new PolygonDef()
{
Density = 1,
Friction = 1,
Restitution = 0
};
net.SetAsBox(0.46f, 0.001f, new Vec2(0.04f, -0.069f), 0);
this.goalRight.CreateShape(net);
++this.rightPostRaiseCount;
this.playerRightTimers.Defend = 12000;
this.RightPostRaised?.Invoke();
}
}
}
public Pinball()
{
// Ground body
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = m_world.CreateBody(bd);
Vec2[] vs = new Vec2[5];
vs[0].Set(0.0f, -2.0f);
vs[1].Set(8.0f, 6.0f);
vs[2].Set(8.0f, 20.0f);
vs[3].Set(-8.0f, 20.0f);
vs[4].Set(-8.0f, 6.0f);
ChainShape loop = new ChainShape();
loop.CreateLoop(vs, 5);
FixtureDef fd = new FixtureDef();
fd.shape = loop;
fd.Density = 0.0f;
ground.CreateFixture(fd);
}
// Flippers
{
Vec2 p1 = new Vec2(-2.0f, 0.0f);
Vec2 p2 = new Vec2(2.0f, 0.0f);
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position = p1;
Body leftFlipper = m_world.CreateBody(bd);
bd.Position = p2;
Body rightFlipper = m_world.CreateBody(bd);
PolygonShape box = new PolygonShape();
box.SetAsBox(1.75f, 0.1f);
FixtureDef fd = new FixtureDef();
fd.shape = box;
fd.Density = 1.0f;
leftFlipper.CreateFixture(fd);
rightFlipper.CreateFixture(fd);
RevoluteJointDef jd = new RevoluteJointDef();
jd.bodyA = ground;
jd.localAnchorB.SetZero();
jd.enableMotor = true;
jd.maxMotorTorque = 1000.0f;
jd.enableLimit = true;
jd.motorSpeed = 0.0f;
jd.localAnchorA = p1;
jd.bodyB = leftFlipper;
jd.lowerAngle = -30.0f * (float)Math.PI / 180.0f;
jd.upperAngle = 5.0f * (float)Math.PI / 180.0f;
m_leftJoint = (RevoluteJoint)m_world.CreateJoint(jd);
jd.motorSpeed = 0.0f;
jd.localAnchorA = p2;
jd.bodyB = rightFlipper;
jd.lowerAngle = -5.0f * (float)Math.PI / 180.0f;
jd.upperAngle = 30.0f * (float)Math.PI / 180.0f;
m_rightJoint = (RevoluteJoint)m_world.CreateJoint(jd);
}
// Circle character
{
BodyDef bd = new BodyDef();
bd.Position.Set(1.0f, 15.0f);
bd.type = BodyType._dynamicBody;
bd.bullet = true;
m_ball = m_world.CreateBody(bd);
CircleShape shape = new CircleShape();
shape.m_radius = 0.2f;
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.Density = 1.0f;
m_ball.CreateFixture(fd);
}
m_button = false;
}
protected override void Create()
{
Body ground;
{
var bd = new BodyDef {
Position = new Vector2(0.0f, 17.0f)
};
ground = World.CreateBody(bd);
}
{
var prevBody = ground;
// Define crank.
{
var shape = new PolygonShape();
shape.SetAsBox(4.0f, 1.0f);
var bd = new BodyDef {
BodyType = BodyType.DynamicBody, Position = new Vector2(-8.0f, 20.0f)
};
var body = World.CreateBody(bd);
body.CreateFixture(shape, 2.0f);
var rjd = new RevoluteJointDef();
rjd.Initialize(prevBody, body, new Vector2(-12.0f, 20.0f));
World.CreateJoint(rjd);
prevBody = body;
}
// Define connecting rod
{
var shape = new PolygonShape();
shape.SetAsBox(8.0f, 1.0f);
var bd = new BodyDef {
BodyType = BodyType.DynamicBody, Position = new Vector2(4.0f, 20.0f)
};
var body = World.CreateBody(bd);
body.CreateFixture(shape, 2.0f);
var rjd = new RevoluteJointDef();
rjd.Initialize(prevBody, body, new Vector2(-4.0f, 20.0f));
World.CreateJoint(rjd);
prevBody = body;
}
// Define piston
{
var shape = new PolygonShape();
shape.SetAsBox(3.0f, 3.0f);
var bd = new BodyDef
{
BodyType = BodyType.DynamicBody, FixedRotation = true,
Position = new Vector2(12.0f, 20.0f)
};
var body = World.CreateBody(bd);
body.CreateFixture(shape, 2.0f);
var rjd = new RevoluteJointDef();
rjd.Initialize(prevBody, body, new Vector2(12.0f, 20.0f));
World.CreateJoint(rjd);
var pjd = new PrismaticJointDef();
pjd.Initialize(ground, body, new Vector2(12.0f, 17.0f), new Vector2(1.0f, 0.0f));
World.CreateJoint(pjd);
}
}
}
public KeyPair(BodyDef d, ThingDef a)
{
bodyDef = d;
apparel = a;
}
public RayCast()
{
// Ground body
{
BodyDef bd = new BodyDef();
Body ground = _world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
{
var vertices = new Vector2[3];
vertices[0] = new Vector2(-0.5f, 0.0f);
vertices[1] = new Vector2(0.5f, 0.0f);
vertices[2] = new Vector2(0.0f, 1.5f);
_polygons[0] = new PolygonShape();
_polygons[0].Set(vertices, 3);
}
{
var vertices2 = new Vector2[3];
vertices2[0] = new Vector2(-0.1f, 0.0f);
vertices2[1] = new Vector2(0.1f, 0.0f);
vertices2[2] = new Vector2(0.0f, 1.5f);
_polygons[1] = new PolygonShape();
_polygons[1].Set(vertices2, 3);
}
{
float w = 1.0f;
float b = w / (2.0f + (float)Math.Sqrt(2.0));
float s = (float)Math.Sqrt(2.0) * b;
var vertices3 = new Vector2[8];
vertices3[0] = new Vector2(0.5f * s, 0.0f);
vertices3[1] = new Vector2(0.5f * w, b);
vertices3[2] = new Vector2(0.5f * w, b + s);
vertices3[3] = new Vector2(0.5f * s, w);
vertices3[4] = new Vector2(-0.5f * s, w);
vertices3[5] = new Vector2(-0.5f * w, b + s);
vertices3[6] = new Vector2(-0.5f * w, b);
vertices3[7] = new Vector2(-0.5f * s, 0.0f);
_polygons[2] = new PolygonShape();
_polygons[2].Set(vertices3, 8);
}
{
_polygons[3] = new PolygonShape();
_polygons[3].SetAsBox(0.5f, 0.5f);
}
{
_circle = new CircleShape();
_circle._radius = 0.5f;
}
_bodyIndex = 0;
_angle = 0.0f;
_mode = RayCastMode.Closest;
}
private RevoluteJointTest()
{
Body ground;
{
BodyDef bd = new BodyDef();
ground = BodyFactory.CreateFromDef(World, bd);
EdgeShape shape = new EdgeShape();
shape.SetTwoSided(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
FixtureDef fd = new FixtureDef();
fd.Shape = shape;
//fd.Filter.Category = 2;
ground.AddFixture(fd);
}
_enableLimit = true;
_enableMotor = false;
_motorSpeed = 1.0f;
{
PolygonShape shape = new PolygonShape(5.0f);
shape.SetAsBox(0.25f, 3.0f, new Vector2(0.0f, 3.0f), 0.0f);
BodyDef bd = new BodyDef();
bd.Type = BodyType.Dynamic;
bd.Position = new Vector2(-10.0f, 20.0f);
Body body = BodyFactory.CreateFromDef(World, bd);
body.AddFixture(shape);
RevoluteJointDef jd = new RevoluteJointDef();
jd.Initialize(ground, body, new Vector2(-10.0f, 20.5f));
jd.MotorSpeed = _motorSpeed;
jd.MaxMotorTorque = 10000.0f;
jd.EnableMotor = _enableMotor;
jd.LowerAngle = -0.25f * MathConstants.Pi;
jd.UpperAngle = 0.5f * MathConstants.Pi;
jd.EnableLimit = _enableLimit;
_joint1 = (RevoluteJoint)JointFactory.CreateFromDef(World, jd);
}
{
CircleShape circle_shape = new CircleShape(5.0f);
circle_shape.Radius = 2.0f;
BodyDef circle_bd = new BodyDef();
circle_bd.Type = BodyType.Dynamic;
circle_bd.Position = new Vector2(5.0f, 30.0f);
FixtureDef fd = new FixtureDef();
fd.Filter.CategoryMask = Category.Cat1;
fd.Shape = circle_shape;
_ball = BodyFactory.CreateFromDef(World, circle_bd);
_ball.AddFixture(fd);
PolygonShape polygon_shape = new PolygonShape(2.0f);
polygon_shape.SetAsBox(10.0f, 0.5f, new Vector2(-10.0f, 0.0f), 0.0f);
BodyDef polygon_bd = new BodyDef();
polygon_bd.Position = new Vector2(20.0f, 10.0f);
polygon_bd.Type = BodyType.Dynamic;
polygon_bd.IsBullet = true;
Body polygon_body = BodyFactory.CreateFromDef(World, polygon_bd);
polygon_body.AddFixture(polygon_shape);
RevoluteJointDef jd = new RevoluteJointDef();
jd.Initialize(ground, polygon_body, new Vector2(19.0f, 10.0f));
jd.LowerAngle = -0.25f * MathConstants.Pi;
jd.UpperAngle = 0.0f * MathConstants.Pi;
jd.EnableLimit = true;
jd.EnableMotor = true;
jd.MotorSpeed = 0.0f;
jd.MaxMotorTorque = 10000.0f;
_joint2 = (RevoluteJoint)JointFactory.CreateFromDef(World, jd);
}
}
public void LaunchBomb(Vector2 position, Vector2 velocity)
{
if (_bomb != null)
{
_world.DestroyBody(_bomb);
_bomb = null;
}
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = position;
bd.bullet = true;
_bomb = _world.CreateBody(bd);
_bomb.SetLinearVelocity(velocity);
CircleShape circle = new CircleShape();
circle._radius = 0.3f;
FixtureDef fd = new FixtureDef();
fd.shape = circle;
fd.density = 20.0f;
fd.restitution = 0.0f;
Vector2 minV = position - new Vector2(0.3f,0.3f);
Vector2 maxV = position + new Vector2(0.3f,0.3f);
AABB aabb;
aabb.lowerBound = minV;
aabb.upperBound = maxV;
_bomb.CreateFixture(fd);
}
public Bridge()
{
Body ground;
{
var bd = new BodyDef();
ground = World.CreateBody(bd);
var shape = new EdgeShape();
shape.SetTwoSided(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
{
var shape = new PolygonShape();
shape.SetAsBox(0.5f, 0.125f);
var fd = new FixtureDef();
fd.Shape = shape;
fd.Density = 20.0f;
fd.Friction = 0.2f;
var jd = new RevoluteJointDef();
var prevBody = ground;
for (var i = 0; i < Count; ++i)
{
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position.Set(-14.5f + 1.0f * i, 5.0f);
var body = World.CreateBody(bd);
body.CreateFixture(fd);
var anchor = new Vector2(-15.0f + 1.0f * i, 5.0f);
jd.Initialize(prevBody, body, anchor);
World.CreateJoint(jd);
if (i == Count >> 1)
{
_middle = body;
}
prevBody = body;
}
{
var anchor = new Vector2(-15.0f + 1.0f * Count, 5.0f);
jd.Initialize(prevBody, ground, anchor);
World.CreateJoint(jd);
}
}
for (var i = 0; i < 2; ++i)
{
var vertices = new Vector2[3];
vertices[0].Set(-0.5f, 0.0f);
vertices[1].Set(0.5f, 0.0f);
vertices[2].Set(0.0f, 1.5f);
var shape = new PolygonShape();
shape.Set(vertices);
var fd = new FixtureDef();
fd.Shape = shape;
fd.Density = 1.0f;
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position.Set(-8.0f + 8.0f * i, 12.0f);
var body = World.CreateBody(bd);
body.CreateFixture(fd);
}
for (var i = 0; i < 3; ++i)
{
var shape = new CircleShape();
shape.Radius = 0.5f;
var fd = new FixtureDef();
fd.Shape = shape;
fd.Density = 1.0f;
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position.Set(-6.0f + 6.0f * i, 10.0f);
var body = World.CreateBody(bd);
body.CreateFixture(fd);
}
}