public DistanceJointTest()
{
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = World.CreateBody(bd);
EdgeShape shape = new EdgeShape();
shape.SetTwoSided(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
{
BodyDef bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.AngularDamping = 0.1f;
bd.Position.Set(0.0f, 5.0f);
Body body = World.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.5f, 0.5f);
body.CreateFixture(shape, 5.0f);
m_hertz = 1.0f;
m_dampingRatio = 0.7f;
DistanceJointDef jd = new DistanceJointDef();
jd.Initialize(ground, body, new Vector2(0.0f, 15.0f), bd.Position);
jd.CollideConnected = true;
m_length = jd.Length;
m_minLength = m_length;
m_maxLength = m_length;
JointUtils.LinearStiffness(out jd.Stiffness, out jd.Damping, m_hertz, m_dampingRatio, jd.BodyA, jd.BodyB);
m_joint = (DistanceJoint)World.CreateJoint(jd);
}
}
public WebTest()
{
Body ground;
{
BodyDef bd = new BodyDef();
ground = World.CreateBody(bd);
EdgeShape shape = new EdgeShape();
shape.SetTwoSided(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.BodyType = BodyType.DynamicBody;
bd.Position.Set(-5.0f, 5.0f);
m_bodies[0] = World.CreateBody(bd);
m_bodies[0].CreateFixture(shape, 5.0f);
bd.Position.Set(5.0f, 5.0f);
m_bodies[1] = World.CreateBody(bd);
m_bodies[1].CreateFixture(shape, 5.0f);
bd.Position.Set(5.0f, 15.0f);
m_bodies[2] = World.CreateBody(bd);
m_bodies[2].CreateFixture(shape, 5.0f);
bd.Position.Set(-5.0f, 15.0f);
m_bodies[3] = World.CreateBody(bd);
m_bodies[3].CreateFixture(shape, 5.0f);
DistanceJointDef jd = new DistanceJointDef();
Vector2 p1;
Vector2 p2;
Vector2 d;
float frequencyHz = 2.0f;
float dampingRatio = 0.0f;
jd.BodyA = ground;
jd.BodyB = m_bodies[0];
jd.LocalAnchorA.Set(-10.0f, 0.0f);
jd.LocalAnchorB.Set(-0.5f, -0.5f);
p1 = jd.BodyA.GetWorldPoint(jd.LocalAnchorA);
p2 = jd.BodyB.GetWorldPoint(jd.LocalAnchorB);
d = p2 - p1;
jd.Length = d.Length();
JointUtils.LinearStiffness(out jd.Stiffness, out jd.Damping, frequencyHz, dampingRatio, jd.BodyA, jd.BodyB);
m_joints[0] = World.CreateJoint(jd);
jd.BodyA = ground;
jd.BodyB = m_bodies[1];
jd.LocalAnchorA.Set(10.0f, 0.0f);
jd.LocalAnchorB.Set(0.5f, -0.5f);
p1 = jd.BodyA.GetWorldPoint(jd.LocalAnchorA);
p2 = jd.BodyB.GetWorldPoint(jd.LocalAnchorB);
d = p2 - p1;
jd.Length = d.Length();
JointUtils.LinearStiffness(out jd.Stiffness, out jd.Damping, frequencyHz, dampingRatio, jd.BodyA, jd.BodyB);
m_joints[1] = World.CreateJoint(jd);
jd.BodyA = ground;
jd.BodyB = m_bodies[2];
jd.LocalAnchorA.Set(10.0f, 20.0f);
jd.LocalAnchorB.Set(0.5f, 0.5f);
p1 = jd.BodyA.GetWorldPoint(jd.LocalAnchorA);
p2 = jd.BodyB.GetWorldPoint(jd.LocalAnchorB);
d = p2 - p1;
jd.Length = d.Length();
JointUtils.LinearStiffness(out jd.Stiffness, out jd.Damping, frequencyHz, dampingRatio, jd.BodyA, jd.BodyB);
m_joints[2] = World.CreateJoint(jd);
jd.BodyA = ground;
jd.BodyB = m_bodies[3];
jd.LocalAnchorA.Set(-10.0f, 20.0f);
jd.LocalAnchorB.Set(-0.5f, 0.5f);
p1 = jd.BodyA.GetWorldPoint(jd.LocalAnchorA);
p2 = jd.BodyB.GetWorldPoint(jd.LocalAnchorB);
d = p2 - p1;
jd.Length = d.Length();
JointUtils.LinearStiffness(out jd.Stiffness, out jd.Damping, frequencyHz, dampingRatio, jd.BodyA, jd.BodyB);
m_joints[3] = World.CreateJoint(jd);
jd.BodyA = m_bodies[0];
jd.BodyB = m_bodies[1];
jd.LocalAnchorA.Set(0.5f, 0.0f);
jd.LocalAnchorB.Set(-0.5f, 0.0f);
;
p1 = jd.BodyA.GetWorldPoint(jd.LocalAnchorA);
p2 = jd.BodyB.GetWorldPoint(jd.LocalAnchorB);
d = p2 - p1;
jd.Length = d.Length();
JointUtils.LinearStiffness(out jd.Stiffness, out jd.Damping, frequencyHz, dampingRatio, jd.BodyA, jd.BodyB);
m_joints[4] = World.CreateJoint(jd);
jd.BodyA = m_bodies[1];
jd.BodyB = m_bodies[2];
jd.LocalAnchorA.Set(0.0f, 0.5f);
jd.LocalAnchorB.Set(0.0f, -0.5f);
p1 = jd.BodyA.GetWorldPoint(jd.LocalAnchorA);
p2 = jd.BodyB.GetWorldPoint(jd.LocalAnchorB);
d = p2 - p1;
jd.Length = d.Length();
JointUtils.LinearStiffness(out jd.Stiffness, out jd.Damping, frequencyHz, dampingRatio, jd.BodyA, jd.BodyB);
m_joints[5] = World.CreateJoint(jd);
jd.BodyA = m_bodies[2];
jd.BodyB = m_bodies[3];
jd.LocalAnchorA.Set(-0.5f, 0.0f);
jd.LocalAnchorB.Set(0.5f, 0.0f);
p1 = jd.BodyA.GetWorldPoint(jd.LocalAnchorA);
p2 = jd.BodyB.GetWorldPoint(jd.LocalAnchorB);
d = p2 - p1;
jd.Length = d.Length();
JointUtils.LinearStiffness(out jd.Stiffness, out jd.Damping, frequencyHz, dampingRatio, jd.BodyA, jd.BodyB);
m_joints[6] = World.CreateJoint(jd);
jd.BodyA = m_bodies[3];
jd.BodyB = m_bodies[0];
jd.LocalAnchorA.Set(0.0f, -0.5f);
jd.LocalAnchorB.Set(0.0f, 0.5f);
p1 = jd.BodyA.GetWorldPoint(jd.LocalAnchorA);
p2 = jd.BodyB.GetWorldPoint(jd.LocalAnchorB);
d = p2 - p1;
jd.Length = d.Length();
JointUtils.LinearStiffness(out jd.Stiffness, out jd.Damping, frequencyHz, dampingRatio, jd.BodyA, jd.BodyB);
m_joints[7] = World.CreateJoint(jd);
}
}
private void CreateLeg(float s, Vector2 wheelAnchor)
{
var p1 = new Vector2(5.4f * s, -6.1f);
var p2 = new Vector2(7.2f * s, -1.2f);
var p3 = new Vector2(4.3f * s, -1.9f);
var p4 = new Vector2(3.1f * s, 0.8f);
var p5 = new Vector2(6.0f * s, 1.5f);
var p6 = new Vector2(2.5f * s, 3.7f);
var fd1 = new FixtureDef {
Filter = { GroupIndex = -1 }, Density = 1.0f
};
var fd2 = new FixtureDef {
Filter = { GroupIndex = -1 }, Density = 1.0f
};
var poly1 = new PolygonShape();
var poly2 = new PolygonShape();
if (s > 0.0f)
{
var vertices = new Vector2[3];
vertices[0] = p1;
vertices[1] = p2;
vertices[2] = p3;
poly1.Set(vertices);
vertices[0] = Vector2.Zero;
vertices[1] = p5 - p4;
vertices[2] = p6 - p4;
poly2.Set(vertices);
}
else
{
var vertices = new Vector2[3];
vertices[0] = p1;
vertices[1] = p3;
vertices[2] = p2;
poly1.Set(vertices);
vertices[0] = Vector2.Zero;
vertices[1] = p6 - p4;
vertices[2] = p5 - p4;
poly2.Set(vertices);
}
fd1.Shape = poly1;
fd2.Shape = poly2;
var bd1 = new BodyDef();
var bd2 = new BodyDef();
bd1.BodyType = BodyType.DynamicBody;
bd2.BodyType = BodyType.DynamicBody;
bd1.Position = _offset;
bd2.Position = p4 + _offset;
bd1.AngularDamping = 10.0f;
bd2.AngularDamping = 10.0f;
var body1 = World.CreateBody(bd1);
var body2 = World.CreateBody(bd2);
body1.CreateFixture(fd1);
body2.CreateFixture(fd2);
{
var 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.
var dampingRatio = 0.5f;
var frequencyHz = 10.0f;
jd.Initialize(body1, body2, p2 + _offset, p5 + _offset);
JointUtils.LinearStiffness(out jd.Stiffness, out jd.Damping, frequencyHz, dampingRatio, jd.BodyA, jd.BodyB);
World.CreateJoint(jd);
jd.Initialize(body1, body2, p3 + _offset, p4 + _offset);
JointUtils.LinearStiffness(out jd.Stiffness, out jd.Damping, frequencyHz, dampingRatio, jd.BodyA, jd.BodyB);
World.CreateJoint(jd);
jd.Initialize(body1, _wheel, p3 + _offset, wheelAnchor + _offset);
JointUtils.LinearStiffness(out jd.Stiffness, out jd.Damping, frequencyHz, dampingRatio, jd.BodyA, jd.BodyB);
World.CreateJoint(jd);
jd.Initialize(body2, _wheel, p6 + _offset, wheelAnchor + _offset);
JointUtils.LinearStiffness(out jd.Stiffness, out jd.Damping, frequencyHz, dampingRatio, jd.BodyA, jd.BodyB);
World.CreateJoint(jd);
}
{
var jd = new RevoluteJointDef();
jd.Initialize(body2, _chassis, p4 + _offset);
World.CreateJoint(jd);
}
}
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();
var frequencyHz = 5.0f;
var 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);
JointUtils.AngularStiffness(out jd.Stiffness, out jd.Damping, frequencyHz, dampingRatio, prevBody, body);
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();
var frequencyHz = 8.0f;
var 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);
JointUtils.AngularStiffness(out jd.Stiffness, out jd.Damping, frequencyHz, dampingRatio, jd.BodyA, jd.BodyB);
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);
}
}
public Dominos()
{
Body b1;
{
var shape = new EdgeShape();
shape.SetTwoSided(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
var bd = new BodyDef();
b1 = World.CreateBody(bd);
b1.CreateFixture(shape, 0.0f);
}
{
var shape = new PolygonShape();
shape.SetAsBox(6.0f, 0.25f);
var bd = new BodyDef();
bd.Position.Set(-1.5f, 10.0f);
var ground = World.CreateBody(bd);
ground.CreateFixture(shape, 0.0f);
}
{
var shape = new PolygonShape();
shape.SetAsBox(0.1f, 1.0f);
var fd = new FixtureDef();
fd.Shape = shape;
fd.Density = 20.0f;
fd.Friction = 0.1f;
for (var i = 0; i < 10; ++i)
{
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position.Set(-6.0f + 1.0f * i, 11.25f);
var body = World.CreateBody(bd);
body.CreateFixture(fd);
}
}
{
var shape = new PolygonShape();
shape.SetAsBox(7.0f, 0.25f, Vector2.Zero, 0.3f);
var bd = new BodyDef();
bd.Position.Set(1.0f, 6.0f);
var ground = World.CreateBody(bd);
ground.CreateFixture(shape, 0.0f);
}
Body b2;
{
var shape = new PolygonShape();
shape.SetAsBox(0.25f, 1.5f);
var bd = new BodyDef();
bd.Position.Set(-7.0f, 4.0f);
b2 = World.CreateBody(bd);
b2.CreateFixture(shape, 0.0f);
}
Body b3;
{
var shape = new PolygonShape();
shape.SetAsBox(6.0f, 0.125f);
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position.Set(-0.9f, 1.0f);
bd.Angle = -0.15f;
b3 = World.CreateBody(bd);
b3.CreateFixture(shape, 10.0f);
}
var jd = new RevoluteJointDef();
var anchor = new Vector2();
anchor.Set(-2.0f, 1.0f);
jd.Initialize(b1, b3, anchor);
jd.CollideConnected = true;
World.CreateJoint(jd);
Body b4;
{
var shape = new PolygonShape();
shape.SetAsBox(0.25f, 0.25f);
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position.Set(-10.0f, 15.0f);
b4 = World.CreateBody(bd);
b4.CreateFixture(shape, 10.0f);
}
anchor.Set(-7.0f, 15.0f);
jd.Initialize(b2, b4, anchor);
World.CreateJoint(jd);
Body b5;
{
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position.Set(6.5f, 3.0f);
b5 = World.CreateBody(bd);
var shape = new PolygonShape();
var 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.Set(6.0f, 2.0f);
jd.Initialize(b1, b5, anchor);
World.CreateJoint(jd);
Body b6;
{
var shape = new PolygonShape();
shape.SetAsBox(1.0f, 0.1f);
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position.Set(6.5f, 4.1f);
b6 = World.CreateBody(bd);
b6.CreateFixture(shape, 30.0f);
}
anchor.Set(7.5f, 4.0f);
jd.Initialize(b5, b6, anchor);
World.CreateJoint(jd);
Body b7;
{
var shape = new PolygonShape();
shape.SetAsBox(0.1f, 1.0f);
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position.Set(7.4f, 1.0f);
b7 = World.CreateBody(bd);
b7.CreateFixture(shape, 10.0f);
}
var djd = new DistanceJointDef();
djd.BodyA = b3;
djd.BodyB = b7;
djd.LocalAnchorA.Set(6.0f, 0.0f);
djd.LocalAnchorB.Set(0.0f, -1.0f);
var d = djd.BodyB.GetWorldPoint(djd.LocalAnchorB) - djd.BodyA.GetWorldPoint(djd.LocalAnchorA);
djd.Length = d.Length();
JointUtils.LinearStiffness(out djd.Stiffness, out djd.Damping, 1.0f, 1.0f, djd.BodyA, djd.BodyB);
World.CreateJoint(djd);
{
var radius = 0.2f;
var shape = new CircleShape();
shape.Radius = radius;
for (var i = 0; i < 4; ++i)
{
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position.Set(5.9f + 2.0f * radius * i, 2.4f);
var body = World.CreateBody(bd);
body.CreateFixture(shape, 10.0f);
}
}
}
