public ShapeEditing()
{
{
BodyDef bd1 = new BodyDef();
Body ground = m_world.CreateBody(bd1);
EdgeShape shape = new EdgeShape();
shape.Set(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
shape.Density = 0;
ground.CreateFixture(shape);
}
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(0.0f, 10.0f);
m_body = m_world.CreateBody(bd);
PolygonShape shape2 = new PolygonShape();
shape2.SetAsBox(4.0f, 4.0f, new Vec2(0.0f, 0.0f), 0.0f);
shape2.Density = 10;
m_fixture1 = m_body.CreateFixture(shape2);
m_fixture2 = null;
m_sensor = false;
}
Breakable()
{
// Ground body
{
BodyDef bd = new BodyDef();
Body ground = m_world.CreateBody(bd);
EdgeShape shape = new EdgeShape();
shape.Set(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
shape.Density = 0;
ground.CreateFixture(shape);
}
// Breakable dynamic body
{
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(0.0f, 40.0f);
bd.angle = 0.25f * (float)Math.PI;
m_body1 = m_world.CreateBody(bd);
m_shape1.SetAsBox(0.5f, 0.5f, new Vec2(-0.5f, 0.0f), 0.0f);
m_shape1.Density = 1;
m_piece1 = m_body1.CreateFixture(m_shape1);
m_shape2.SetAsBox(0.5f, 0.5f, new Vec2(0.5f, 0.0f), 0.0f);
m_shape2.Density = 1;
m_piece2 = m_body1.CreateFixture(m_shape2);
}
m_break = false;
m_broke = false;
}
void Break()
{
// Create two bodies from one.
Body body1 = m_piece1.GetBody();
Vec2 center = body1.GetWorldCenter();
body1.DestroyFixture(m_piece2);
m_piece2 = null;
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position = body1.GetPosition();
bd.angle = body1.GetAngle();
Body body2 = m_world.CreateBody(bd);
m_shape2.Density = 1;
m_piece2 = body2.CreateFixture(m_shape2);
// Compute consistent velocities for new bodies based on
// cached velocity.
Vec2 center1 = body1.GetWorldCenter();
Vec2 center2 = body2.GetWorldCenter();
Vec2 velocity1 = m_velocity + Utilities.Cross(m_angularVelocity, center1 - center);
Vec2 velocity2 = m_velocity + Utilities.Cross(m_angularVelocity, center2 - center);
body1.SetAngularVelocity(m_angularVelocity);
body1.SetLinearVelocity(velocity1);
body2.SetAngularVelocity(m_angularVelocity);
body2.SetLinearVelocity(velocity2);
}
public SphereStack()
{
{
BodyDef bd = new BodyDef();
Body ground = m_world.CreateBody(bd);
EdgeShape shape = new EdgeShape();
shape.Set(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
shape.Density = 0;
ground.CreateFixture(shape);
}
{
CircleShape shape = new CircleShape();
shape.m_radius = 1.0f;
for (int i = 0; i < e_count; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(0.0f, 4.0f + 3.0f * i);
m_bodies[i] = m_world.CreateBody(bd);
m_bodies[i].CreateFixture(shape);
m_bodies[i].SetLinearVelocity(new Vec2(0.0f, -50.0f));
}
}
}
public Test(){
Vec2 gravity = new Vec2();
gravity.Set(0.0f, -10.0f);
m_world = new World(gravity);
m_bomb = null;
m_textLine = 30;
m_mouseJoint = null;
m_pointCount = 0;
m_debugDraw = new DebugDraw();
m_destructionListener = new TestDestructionListener();
m_destructionListener.test = this;
m_world.SetDestructionListener(m_destructionListener);
m_world.SetContactListener(this);
m_world.SetDebugDraw(m_debugDraw);
m_bombSpawning = false;
m_stepCount = 0;
BodyDef bodyDef = new BodyDef();
m_groundBody = m_world.CreateBody(bodyDef);
m_maxProfile = new Profile();
m_totalProfile = new Profile();
}
public SensorTest()
{
{
BodyDef bd = new BodyDef();
Body ground = m_world.CreateBody(bd);
{
EdgeShape shape = new EdgeShape();
shape.Set(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
shape.Density = 0;
ground.CreateFixture(shape);
}
#if ZERO
{
FixtureDef sd;
sd.SetAsBox(10.0f, 2.0f, new Vec2(0.0f, 20.0f), 0.0f);
sd.IsSensor = true;
m_sensor = ground.CreateFixture(sd);
}
#else
{
CircleShape shape = new CircleShape();
shape.m_radius = 5.0f;
shape.m_p.Set(0.0f, 10.0f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.IsSensor = true;
m_sensor = ground.CreateFixture(fd);
}
#endif
}
{
CircleShape shape = new CircleShape();
shape.m_radius = 1.0f;
for (int i = 0; i < e_count; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(-10.0f + 3.0f * i, 20.0f);
bd.UserData = m_touching[i];
m_touching[i] = false;
m_bodies[i] = m_world.CreateBody(bd);
m_bodies[i].CreateFixture(shape);
}
}
}
//e_columnCount = 1,
//e_rowCount = 1
public VerticalStack()
{
{
BodyDef bd = new BodyDef();
Body ground = m_world.CreateBody(bd);
EdgeShape shape = new EdgeShape();
shape.Set(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
shape.Density = 0;
ground.CreateFixture(shape);
shape.Set(new Vec2(20.0f, 0.0f), new Vec2(20.0f, 20.0f));
shape.Density = 0;
ground.CreateFixture(shape);
}
float[] xs = {0.0f, -10.0f, -5.0f, 5.0f, 10.0f};
for (int j = 0; j < e_columnCount; ++j)
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.5f, 0.5f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.Density = 1.0f;
fd.friction = 0.3f;
for (int i = 0; i < e_rowCount; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
int n = j * e_rowCount + i;
Utilities.Assert(n < e_rowCount * e_columnCount);
m_indices[n] = n;
bd.UserData = m_indices[n];
float x = 0.0f;
//float x = RandomFloat(-0.02f, 0.02f);
//float x = i % 2 == 0 ? -0.025f : 0.025f;
bd.Position.Set(xs[j] + x, 0.752f + 1.54f * i);
Body body = m_world.CreateBody(bd);
m_bodies[n] = body;
body.CreateFixture(fd);
}
}
m_bullet = null;
}
public Confined()
{
{
BodyDef bd = new BodyDef();
Body ground = m_world.CreateBody(bd);
EdgeShape shape2 = new EdgeShape();
// Floor
shape2.Set(new Vec2(-10.0f, 0.0f), new Vec2(10.0f, 0.0f));
shape2.Density = 0;
ground.CreateFixture(shape2);
// Left wall
shape2.Set(new Vec2(-10.0f, 0.0f), new Vec2(-10.0f, 20.0f));
ground.CreateFixture(shape2);
// Right wall
shape2.Set(new Vec2(10.0f, 0.0f), new Vec2(10.0f, 20.0f));
ground.CreateFixture(shape2);
// Roof
shape2.Set(new Vec2(-10.0f, 20.0f), new Vec2(10.0f, 20.0f));
ground.CreateFixture(shape2);
}
float radius = 0.5f;
CircleShape shape = new CircleShape();
shape.m_p.SetZero();
shape.m_radius = radius;
FixtureDef fd = new FixtureDef();
fd.shape = shape;
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._dynamicBody;
bd.Position.Set(-10.0f + (2.1f * j + 1.0f + 0.01f * i) * radius, (2.0f * i + 1.0f) * radius);
Body body = m_world.CreateBody(bd);
body.CreateFixture(fd);
}
}
m_world.SetGravity(new Vec2(0.0f, 0.0f));
}
/// Create a rigid body given a definition. No reference to the definition
/// is retained.
/// @warning This function is locked during callbacks.
public Body CreateBody(BodyDef def){
Utilities.Assert(IsLocked() == false);
if (IsLocked())
{
return null;
}
Body b = new Body(def, this);
// Add to world doubly linked list.
m_bodyList.Add(b);
return b;
}
public GravityTest() {
// Define the gravity vector.
Vec2 gravity = new Vec2(0.0f, 10.0f);
// Construct a world object, which will hold and simulate the rigid bodies.
m_world.SetGravity(gravity);
// Define the ground body.
BodyDef groundBodyDef = new BodyDef();
groundBodyDef.Position.Set(0.0f, 20.0f);
// Call the body factory which allocates memory for the ground body
// from a pool and creates the ground box shape (also from a pool).
// The body is also added to the world.
Body groundBody = m_world.CreateBody(groundBodyDef);
// Define the ground box shape.
PolygonShape groundBox = new PolygonShape();
// The extents are the half-widths of the box.
groundBox.SetAsBox(50.0f, 10.0f);
groundBox.Density = 0;
// Add the ground fixture to the ground body.
groundBody.CreateFixture(groundBox);
// Define the dynamic body. We set its position and call the body factory.
BodyDef bodyDef = new BodyDef();
bodyDef.type = BodyType._dynamicBody;
bodyDef.Position = new Vec2(0.0f, 4.0f);
Body body = m_world.CreateBody(bodyDef);
// Define another box shape for our dynamic body.
PolygonShape dynamicBox = new PolygonShape();
dynamicBox.SetAsBox(1.0f, 1.0f);
// Define the dynamic body fixture.
FixtureDef fixtureDef = new FixtureDef();
fixtureDef.shape = dynamicBox;
// Set the box Density to be non-zero, so it will be dynamic.
fixtureDef.Density = 1.0f;
// Override the default friction.
fixtureDef.friction = 0.3f;
// Add the shape to the body.
body.CreateFixture(fixtureDef);
}
public OneSidedPlatform()
{
// Ground
{
BodyDef bd = new BodyDef();
Body ground = m_world.CreateBody(bd);
EdgeShape shape = new EdgeShape();
shape.Set(new Vec2(-20.0f, 0.0f), new Vec2(20.0f, 0.0f));
shape.Density = 0;
ground.CreateFixture(shape);
}
// Platform
{
BodyDef bd = new BodyDef();
bd.Position.Set(0.0f, 10.0f);
Body body = m_world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsBox(3.0f, 0.5f);
shape.Density = 0;
m_platform = body.CreateFixture(shape);
m_bottom = 10.0f - 0.5f;
m_top = 10.0f + 0.5f;
}
// Actor
{
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(0.0f, 12.0f);
Body body = m_world.CreateBody(bd);
m_radius = 0.5f;
CircleShape shape = new CircleShape();
shape.m_radius = m_radius;
shape.Density = 20;
m_character = body.CreateFixture(shape);
body.SetLinearVelocity(new Vec2(0.0f, -50.0f));
m_state = State.e_unknown;
}
}
public Prismatic() {
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = m_world.CreateBody(bd);
EdgeShape shape = new EdgeShape();
shape.Set(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
shape.Density = 0;
ground.CreateFixture(shape);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(2.0f, 0.5f);
shape.Density = 5;
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(-10.0f, 10.0f);
bd.angle = 0.5f * (float)Math.PI;
bd.allowSleep = false;
Body body = m_world.CreateBody(bd);
body.CreateFixture(shape);
PrismaticJointDef pjd = new PrismaticJointDef();
// Bouncy limit
Vec2 axis = new Vec2(2.0f, 1.0f);
axis.Normalize();
pjd.Initialize(ground, body, new Vec2(0.0f, 0.0f), axis);
// Non-bouncy limit
//pjd.Initialize(ground, body, new Vec2(-10.0f, 10.0f), new Vec2(1.0f, 0.0f));
pjd.motorSpeed = 10.0f;
pjd.maxMotorForce = 10000.0f;
pjd.enableMotor = true;
pjd.lowerTranslation = 0.0f;
pjd.upperTranslation = 20.0f;
pjd.enableLimit = true;
m_joint = (PrismaticJoint)m_world.CreateJoint(pjd);
}
}
public override void Step(TestSettings settings)
{
base.Step(settings);
if (m_count < e_count)
{
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(0.0f, 10.0f);
Body body = m_world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.125f, 0.125f);
body.CreateFixture(shape);
++m_count;
}
}
public BulletTest()
{
{
BodyDef bd = new BodyDef();
bd.Position.Set(0.0f, 0.0f);
Body body = m_world.CreateBody(bd);
EdgeShape edge = new EdgeShape();
edge.Set(new Vec2(-10.0f, 0.0f), new Vec2(10.0f, 0.0f));
edge.Density = 0;
body.CreateFixture(edge);
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.2f, 1.0f, new Vec2(0.5f, 1.0f), 0.0f);
shape.Density = 0;
body.CreateFixture(shape);
}
{
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(0.0f, 4.0f);
PolygonShape box = new PolygonShape();
box.SetAsBox(2.0f, 0.1f);
box.Density = 100;
m_body = m_world.CreateBody(bd);
m_body.CreateFixture(box);
box.SetAsBox(0.25f, 0.25f);
//m_x = RandomFloat(-1.0f, 1.0f);
m_x = 0.20352793f;
bd.Position.Set(m_x, 10.0f);
bd.bullet = true;
m_bullet = m_world.CreateBody(bd);
m_bullet.CreateFixture(box);
m_bullet.SetLinearVelocity(new Vec2(0.0f, -50.0f));
}
}
public Chain()
{
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = m_world.CreateBody(bd);
EdgeShape shape = new EdgeShape();
shape.Set(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
shape.Density = 0;
ground.CreateFixture(shape);
}
{
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;
const float y = 25.0f;
Body prevBody = ground;
for (int i = 0; i < 30; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(0.5f + i, y);
Body body = m_world.CreateBody(bd);
body.CreateFixture(fd);
Vec2 anchor = new Vec2((float)(i), y);
jd.Initialize(prevBody, body, anchor);
m_world.CreateJoint(jd);
prevBody = body;
}
}
}
public Body AddNode(Body parent, Vec2 localAnchor, int depth, float offset, float a)
{
Vec2 h = new Vec2(0.0f, a);
Vec2 p = parent.GetPosition() + localAnchor - h;
BodyDef bodyDef = new BodyDef();
bodyDef.type = BodyType._dynamicBody;
bodyDef.Position = p;
Body body = m_world.CreateBody(bodyDef);
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.25f * a, a);
shape.Density = 20;
body.CreateFixture(shape);
if (depth == e_depth)
{
return body;
}
shape.SetAsBox(offset, 0.25f * a, new Vec2(0, -a), 0.0f);
body.CreateFixture(shape);
Vec2 a1 = new Vec2(offset, -a);
Vec2 a2 = new Vec2(-offset, -a);
Body body1 = AddNode(body, a1, depth + 1, 0.5f * offset, a);
Body body2 = AddNode(body, a2, depth + 1, 0.5f * offset, a);
RevoluteJointDef jointDef = new RevoluteJointDef();
jointDef.bodyA = body;
jointDef.localAnchorB = h;
jointDef.localAnchorA = a1;
jointDef.bodyB = body1;
m_world.CreateJoint(jointDef);
jointDef.localAnchorA = a2;
jointDef.bodyB = body2;
m_world.CreateJoint(jointDef);
return body;
}
public Pyramid()
{
{
BodyDef bd = new BodyDef();
Body ground = m_world.CreateBody(bd);
EdgeShape shape = new EdgeShape();
shape.Set(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
shape.Density = 0;
ground.CreateFixture(shape);
}
{
float a = 0.5f;
PolygonShape shape = new PolygonShape();
shape.SetAsBox(a, a);
shape.Density = 5;
Vec2 x = new Vec2(-7.0f, 0.75f);
Vec2 y;
Vec2 deltaX = new Vec2(0.5625f, 1.25f);
Vec2 deltaY = new Vec2(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._dynamicBody;
bd.Position = y;
Body body = m_world.CreateBody(bd);
body.CreateFixture(shape);
y += deltaY;
}
x += deltaX;
}
}
}
public MotorJointTest()
{
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = m_world.CreateBody(bd);
EdgeShape shape = new EdgeShape();
shape.Set(new Vec2(-20.0f, 0.0f), new Vec2(20.0f, 0.0f));
FixtureDef fd = new FixtureDef();
fd.shape = shape;
ground.CreateFixture(fd);
}
// Define motorized body
{
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(0.0f, 8.0f);
Body body = m_world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsBox(2.0f, 0.5f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.friction = 0.6f;
fd.Density = 2.0f;
body.CreateFixture(fd);
MotorJointDef mjd = new MotorJointDef();
mjd.Initialize(ground, body);
mjd.maxForce = 1000.0f;
mjd.maxTorque = 1000.0f;
m_joint = (MotorJoint)m_world.CreateJoint(mjd);
}
m_go = false;
m_time = 0.0f;
}
public ConveyorBelt()
{
// Ground
{
BodyDef bd = new BodyDef();
Body ground = m_world.CreateBody(bd);
EdgeShape shape = new EdgeShape();
shape.Set(new Vec2(-20.0f, 0.0f), new Vec2(20.0f, 0.0f));
shape.Density = 0;
ground.CreateFixture(shape);
}
// Platform
{
BodyDef bd = new BodyDef();
bd.Position.Set(-5.0f, 5.0f);
Body body = m_world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsBox(10.0f, 0.5f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.friction = 0.8f;
m_platform = body.CreateFixture(fd);
}
// Boxes
for (int i = 0; i < 5; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(-10.0f + 2.0f * i, 7.0f);
Body body = m_world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.5f, 0.5f);
shape.Density = 20;
body.CreateFixture(shape);
}
}
void CreateCircle()
{
float radius = 2.0f;
CircleShape shape = new CircleShape();
shape.m_p.SetZero();
shape.m_radius = radius;
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.Density = 1.0f;
fd.friction = 0.0f;
Vec2 p = new Vec2(RandomFloat(), 3.0f + RandomFloat());
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position = p;
//bd.allowSleep = false;
Body body = m_world.CreateBody(bd);
body.CreateFixture(fd);
}
public Tumbler()
{
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = m_world.CreateBody(bd);
}
{
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.allowSleep = false;
bd.Position.Set(0.0f, 10.0f);
Body body = m_world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.Density = 5;
shape.SetAsBox(0.5f, 10.0f, new Vec2( 10.0f, 0.0f), 0.0f);
body.CreateFixture(shape);
shape.SetAsBox(0.5f, 10.0f, new Vec2(-10.0f, 0.0f), 0.0f);
body.CreateFixture(shape);
shape.SetAsBox(10.0f, 0.5f, new Vec2(0.0f, 10.0f), 0.0f);
body.CreateFixture(shape);
shape.SetAsBox(10.0f, 0.5f, new Vec2(0.0f, -10.0f), 0.0f);
body.CreateFixture(shape);
RevoluteJointDef jd = new RevoluteJointDef();
jd.bodyA = ground;
jd.bodyB = body;
jd.localAnchorA.Set(0.0f, 10.0f);
jd.localAnchorB.Set(0.0f, 0.0f);
jd.referenceAngle = 0.0f;
jd.motorSpeed = 0.05f * (float)Math.PI;
jd.maxMotorTorque = 1e8f;
jd.enableMotor = true;
m_joint = (RevoluteJoint)m_world.CreateJoint(jd);
}
m_count = 0;
}
public MobileBalanced()
{
Body ground;
// Create ground body.
{
BodyDef bodyDef = new BodyDef();
bodyDef.Position.Set(0.0f, 20.0f);
ground = m_world.CreateBody(bodyDef);
}
float a = 0.5f;
Vec2 h = new Vec2(0.0f, a);
Body root = AddNode(ground, new Vec2(0, 0), 0, 3.0f, a);
RevoluteJointDef jointDef = new RevoluteJointDef();
jointDef.bodyA = ground;
jointDef.bodyB = root;
jointDef.localAnchorA.SetZero();
jointDef.localAnchorB = h;
m_world.CreateJoint(jointDef);
}
public AddPair()
{
m_world.SetGravity(new Vec2(0.0f,0.0f));
{
CircleShape shape = new CircleShape();
shape.m_p.SetZero();
shape.m_radius = 0.1f;
float minX = -6.0f;
float maxX = 0.0f;
float minY = 4.0f;
float maxY = 6.0f;
for (int i = 0; i < 400; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position = new Vec2(RandomFloat(minX,maxX),RandomFloat(minY,maxY));
Body body = m_world.CreateBody(bd);
shape.Density = 0.01f;
body.CreateFixture(shape);
}
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(1.5f, 1.5f);
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(-40.0f,5.0f);
bd.bullet = true;
Body body = m_world.CreateBody(bd);
body.CreateFixture(shape);
body.SetLinearVelocity(new Vec2(150.0f, 0.0f));
}
}
public VaryingRestitution()
{
{
BodyDef bd = new BodyDef();
Body ground = m_world.CreateBody(bd);
EdgeShape shape = new EdgeShape();
shape.Set(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
shape.Density = 0;
ground.CreateFixture(shape);
}
{
CircleShape shape = new CircleShape();
shape.m_radius = 1.0f;
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.Density = 1.0f;
float[] restitution = {0.0f, 0.1f, 0.3f, 0.5f, 0.75f, 0.9f, 1.0f};
for (int i = 0; i < 7; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(-10.0f + 3.0f * i, 20.0f);
Body body = m_world.CreateBody(bd);
fd.restitution = restitution[i];
body.CreateFixture(fd);
}
}
}
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;
}
internal Body(BodyDef bd, World world){
Utilities.Assert(bd.Position.IsValid());
Utilities.Assert(bd.linearVelocity.IsValid());
Utilities.Assert(Utilities.IsValid(bd.angle));
Utilities.Assert(Utilities.IsValid(bd.angularVelocity));
Utilities.Assert(Utilities.IsValid(bd.angularDamping) && bd.angularDamping >= 0.0f);
Utilities.Assert(Utilities.IsValid(bd.linearDamping) && bd.linearDamping >= 0.0f);
m_flags = 0;
if (bd.bullet) {
m_flags |= BodyFlags.e_bulletFlag;
}
if (bd.fixedRotation) {
m_flags |= BodyFlags.e_fixedRotationFlag;
}
if (bd.allowSleep) {
m_flags |= BodyFlags.e_autoSleepFlag;
}
if (bd.awake) {
m_flags |= BodyFlags.e_awakeFlag;
}
if (bd.active) {
m_flags |= BodyFlags.e_activeFlag;
}
m_world = world;
m_xf.p = bd.Position;
m_xf.q.Set(bd.angle);
m_sweep.localCenter.SetZero();
m_sweep.c0 = m_xf.p;
m_sweep.c = m_xf.p;
m_sweep.a0 = bd.angle;
m_sweep.a = bd.angle;
m_sweep.alpha0 = 0.0f;
m_jointList = new List<JointEdge>();
m_contactList = new List<ContactEdge>();
m_prev = null;
m_next = null;
m_linearVelocity = bd.linearVelocity;
m_angularVelocity = bd.angularVelocity;
m_linearDamping = bd.linearDamping;
m_angularDamping = bd.angularDamping;
m_gravityScale = bd.gravityScale;
m_force.SetZero();
m_torque = 0.0f;
m_sleepTime = 0.0f;
m_type = bd.type;
if (m_type == BodyType._dynamicBody) {
m_mass = 1.0f;
m_invMass = 1.0f;
} else {
m_mass = 0.0f;
m_invMass = 0.0f;
}
m_I = 0.0f;
m_invI = 0.0f;
m_userData = bd.UserData;
m_fixtureList = new List<Fixture>();
}
public CharacterCollision()
{
// Ground body
{
BodyDef bd = new BodyDef();
Body ground = m_world.CreateBody(bd);
EdgeShape shape = new EdgeShape();
shape.Set(new Vec2(-20.0f, 0.0f), new Vec2(20.0f, 0.0f));
shape.Density = 0;
ground.CreateFixture(shape);
}
// Collinear edges with no adjacency information.
// This shows the problematic case where a box shape can hit
// an internal vertex.
{
BodyDef bd = new BodyDef();
Body ground = m_world.CreateBody(bd);
EdgeShape shape = new EdgeShape();
shape.Density = 0;
shape.Set(new Vec2(-8.0f, 1.0f), new Vec2(-6.0f, 1.0f));
ground.CreateFixture(shape);
shape.Set(new Vec2(-6.0f, 1.0f), new Vec2(-4.0f, 1.0f));
ground.CreateFixture(shape);
shape.Set(new Vec2(-4.0f, 1.0f), new Vec2(-2.0f, 1.0f));
ground.CreateFixture(shape);
}
// Chain shape
{
BodyDef bd = new BodyDef();
bd.angle = 0.25f * (float)Math.PI;
Body ground = m_world.CreateBody(bd);
Vec2[] vs = new Vec2[4];
vs[0].Set(5.0f, 7.0f);
vs[1].Set(6.0f, 8.0f);
vs[2].Set(7.0f, 8.0f);
vs[3].Set(8.0f, 7.0f);
ChainShape shape = new ChainShape();
shape.CreateChain(vs, 4);
shape.Density = 0;
ground.CreateFixture(shape);
}
// Square tiles. This shows that adjacency shapes may
// have non-smooth collision. There is no solution
// to this problem.
{
BodyDef bd = new BodyDef();
Body ground = m_world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.Density = 0;
shape.SetAsBox(1.0f, 1.0f, new Vec2(4.0f, 3.0f), 0.0f);
ground.CreateFixture(shape);
shape.SetAsBox(1.0f, 1.0f, new Vec2(6.0f, 3.0f), 0.0f);
ground.CreateFixture(shape);
shape.SetAsBox(1.0f, 1.0f, new Vec2(8.0f, 3.0f), 0.0f);
ground.CreateFixture(shape);
}
// Square made from an edge loop. Collision should be smooth.
{
BodyDef bd = new BodyDef();
Body ground = m_world.CreateBody(bd);
Vec2[] vs = new Vec2[4];
vs[0].Set(-1.0f, 3.0f);
vs[1].Set(1.0f, 3.0f);
vs[2].Set(1.0f, 5.0f);
vs[3].Set(-1.0f, 5.0f);
ChainShape shape = new ChainShape();
shape.CreateLoop(vs, 4);
shape.Density = 0;
ground.CreateFixture(shape);
}
// Edge loop. Collision should be smooth.
{
BodyDef bd = new BodyDef();
bd.Position.Set(-10.0f, 4.0f);
Body ground = m_world.CreateBody(bd);
Vec2[] vs = new Vec2[10];
vs[0].Set(0.0f, 0.0f);
vs[1].Set(6.0f, 0.0f);
vs[2].Set(6.0f, 2.0f);
vs[3].Set(4.0f, 1.0f);
vs[4].Set(2.0f, 2.0f);
vs[5].Set(0.0f, 2.0f);
vs[6].Set(-2.0f, 2.0f);
vs[7].Set(-4.0f, 3.0f);
vs[8].Set(-6.0f, 2.0f);
vs[9].Set(-6.0f, 0.0f);
ChainShape shape = new ChainShape();
shape.CreateLoop(vs, 10);
shape.Density = 0;
ground.CreateFixture(shape);
}
// Square character 1
{
BodyDef bd = new BodyDef();
bd.Position.Set(-3.0f, 8.0f);
bd.type = BodyType._dynamicBody;
bd.fixedRotation = true;
bd.allowSleep = false;
Body body = m_world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.5f, 0.5f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.Density = 20.0f;
body.CreateFixture(fd);
}
// Square character 2
{
BodyDef bd = new BodyDef();
bd.Position.Set(-5.0f, 5.0f);
bd.type = BodyType._dynamicBody;
bd.fixedRotation = true;
bd.allowSleep = false;
Body body = m_world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.25f, 0.25f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.Density = 20.0f;
body.CreateFixture(fd);
}
// Hexagon character
{
BodyDef bd = new BodyDef();
bd.Position.Set(-5.0f, 8.0f);
bd.type = BodyType._dynamicBody;
bd.fixedRotation = true;
bd.allowSleep = false;
Body body = m_world.CreateBody(bd);
float angle = 0.0f;
float delta = (float)Math.PI / 3.0f;
Vec2[] vertices = new Vec2[6];
for (int i = 0; i < 6; ++i)
{
vertices[i].Set(0.5f * (float)Math.Cos(angle), 0.5f * (float)Math.Sin(angle));
angle += delta;
}
PolygonShape shape = new PolygonShape();
shape.Set(vertices, 6);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.Density = 20.0f;
body.CreateFixture(fd);
}
// Circle character
{
BodyDef bd = new BodyDef();
bd.Position.Set(3.0f, 5.0f);
bd.type = BodyType._dynamicBody;
bd.fixedRotation = true;
bd.allowSleep = false;
Body body = m_world.CreateBody(bd);
CircleShape shape = new CircleShape();
shape.m_radius = 0.5f;
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.Density = 20.0f;
body.CreateFixture(fd);
}
// Circle character
{
BodyDef bd = new BodyDef();
bd.Position.Set(-7.0f, 6.0f);
bd.type = BodyType._dynamicBody;
bd.allowSleep = false;
m_character = m_world.CreateBody(bd);
CircleShape shape = new CircleShape();
shape.m_radius = 0.25f;
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.Density = 20.0f;
fd.friction = 1.0f;
m_character.CreateFixture(fd);
}
}
public EdgeTest()
{
{
BodyDef bd = new BodyDef();
Body ground = m_world.CreateBody(bd);
Vec2 v1 = new Vec2(-10.0f, 0.0f), v2 = new Vec2(-7.0f, -2.0f), v3 = new Vec2(-4.0f, 0.0f);
Vec2 v4 = new Vec2(0.0f, 0.0f), v5 = new Vec2(4.0f, 0.0f), v6 = new Vec2(7.0f, 2.0f), v7 = new Vec2(10.0f, 0.0f);
EdgeShape shape = new EdgeShape();
shape.Set(v1, v2);
shape.m_hasVertex3 = true;
shape.m_vertex3 = v3;
shape.Density = 0;
ground.CreateFixture(shape);
shape.Set(v2, v3);
shape.m_hasVertex0 = true;
shape.m_hasVertex3 = true;
shape.m_vertex0 = v1;
shape.m_vertex3 = v4;
ground.CreateFixture(shape);
shape.Set(v3, v4);
shape.m_hasVertex0 = true;
shape.m_hasVertex3 = true;
shape.m_vertex0 = v2;
shape.m_vertex3 = v5;
ground.CreateFixture(shape);
shape.Set(v4, v5);
shape.m_hasVertex0 = true;
shape.m_hasVertex3 = true;
shape.m_vertex0 = v3;
shape.m_vertex3 = v6;
ground.CreateFixture(shape);
shape.Set(v5, v6);
shape.m_hasVertex0 = true;
shape.m_hasVertex3 = true;
shape.m_vertex0 = v4;
shape.m_vertex3 = v7;
ground.CreateFixture(shape);
shape.Set(v6, v7);
shape.m_hasVertex0 = true;
shape.m_vertex0 = v5;
ground.CreateFixture(shape);
}
{
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(-0.5f, 0.6f);
bd.allowSleep = false;
Body body = m_world.CreateBody(bd);
CircleShape shape = new CircleShape();
shape.m_radius = 0.5f;
body.CreateFixture(shape);
}
{
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(1.0f, 0.6f);
bd.allowSleep = false;
Body body = m_world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.5f, 0.5f);
body.CreateFixture(shape);
}
}
Bridge()
{
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = m_world.CreateBody(bd);
EdgeShape shape = new EdgeShape();
shape.Set(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
shape.Density = 0;
ground.CreateFixture(shape);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.5f, 0.125f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.Density = 20.0f;
fd.friction = 0.2f;
RevoluteJointDef jd = new RevoluteJointDef();
Body prevBody = ground;
for (int i = 0; i < e_count; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(-14.5f + 1.0f * i, 5.0f);
Body body = m_world.CreateBody(bd);
body.CreateFixture(fd);
Vec2 anchor = new Vec2(-15.0f + 1.0f * i, 5.0f);
jd.Initialize(prevBody, body, anchor);
m_world.CreateJoint(jd);
if (i == (e_count >> 1))
{
m_middle = body;
}
prevBody = body;
}
Vec2 anchor2 = new Vec2(-15.0f + 1.0f * e_count, 5.0f);
jd.Initialize(prevBody, ground, anchor2);
m_world.CreateJoint(jd);
}
for (int i = 0; i < 2; ++i)
{
Vec2[] vertices = new Vec2[3];
vertices[0].Set(-0.5f, 0.0f);
vertices[1].Set(0.5f, 0.0f);
vertices[2].Set(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._dynamicBody;
bd.Position.Set(-8.0f + 8.0f * i, 12.0f);
Body body = m_world.CreateBody(bd);
body.CreateFixture(fd);
}
for (int i = 0; i < 3; ++i)
{
CircleShape shape = new CircleShape();
shape.m_radius = 0.5f;
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.Density = 1.0f;
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(-6.0f + 6.0f * i, 10.0f);
Body body = m_world.CreateBody(bd);
body.CreateFixture(fd);
}
}
public ApplyForce() {
m_world.SetGravity(new Vec2(0.0f, 0.0f));
const float k_restitution = 0.4f;
Body ground;
{
BodyDef bd = new BodyDef();
bd.Position.Set(0.0f, 20.0f);
ground = m_world.CreateBody(bd);
EdgeShape shape = new EdgeShape();
FixtureDef sd = new FixtureDef();
sd.shape = shape;
sd.Density = 0.0f;
sd.restitution = k_restitution;
// Left vertical
shape.Set(new Vec2(-20.0f, -20.0f), new Vec2(-20.0f, 20.0f));
ground.CreateFixture(sd);
// Right vertical
shape.Set(new Vec2(20.0f, -20.0f), new Vec2(20.0f, 20.0f));
ground.CreateFixture(sd);
// Top horizontal
shape.Set(new Vec2(-20.0f, 20.0f), new Vec2(20.0f, 20.0f));
ground.CreateFixture(sd);
// Bottom horizontal
shape.Set(new Vec2(-20.0f, -20.0f), new Vec2(20.0f, -20.0f));
ground.CreateFixture(sd);
}
{
Transform xf1 = new Transform();
xf1.q.Set(0.3524f * (float)Math.PI);
xf1.p = xf1.q.GetXAxis();
Vec2[] vertices = new Vec2[3];
vertices[0] = Utilities.Mul(xf1, new Vec2(-1.0f, 0.0f));
vertices[1] = Utilities.Mul(xf1, new Vec2(1.0f, 0.0f));
vertices[2] = Utilities.Mul(xf1, new Vec2(0.0f, 0.5f));
PolygonShape poly1 = new PolygonShape();
poly1.Set(vertices, 3);
FixtureDef sd1 = new FixtureDef();
sd1.shape = poly1;
sd1.Density = 4.0f;
Transform xf2 = new Transform();
xf2.q.Set(-0.3524f * (float)Math.PI);
xf2.p = -xf2.q.GetXAxis();
vertices[0] = Utilities.Mul(xf2, new Vec2(-1.0f, 0.0f));
vertices[1] = Utilities.Mul(xf2, new Vec2(1.0f, 0.0f));
vertices[2] = Utilities.Mul(xf2, new Vec2(0.0f, 0.5f));
PolygonShape poly2 = new PolygonShape();
poly2.Set(vertices, 3);
FixtureDef sd2 = new FixtureDef();
sd2.shape = poly2;
sd2.Density = 2.0f;
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.angularDamping = 5.0f;
bd.linearDamping = 0.1f;
bd.Position.Set(0.0f, 2.0f);
bd.angle = (float)Math.PI;
bd.allowSleep = false;
m_body = m_world.CreateBody(bd);
m_body.CreateFixture(sd1);
m_body.CreateFixture(sd2);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.5f, 0.5f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.Density = 1.0f;
fd.friction = 0.3f;
for (int i = 0; i < 10; ++i) {
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(0.0f, 5.0f + 1.54f * i);
Body body = m_world.CreateBody(bd);
body.CreateFixture(fd);
float gravity = 10.0f;
float I = body.GetInertia();
float mass = body.GetMass();
// For a circle: I = 0.5 * m * r * r ==> r = sqrt(2 * I / m)
float radius = (float)Math.Sqrt(2.0f * I / mass);
FrictionJointDef jd = new FrictionJointDef();
jd.localAnchorA.SetZero();
jd.localAnchorB.SetZero();
jd.bodyA = ground;
jd.bodyB = body;
jd.collideConnected = true;
jd.maxForce = mass * gravity;
jd.maxTorque = mass * radius * gravity;
m_world.CreateJoint(jd);
}
}
}
internal Body(BodyDef bd, World world)
{
Utilities.Assert(bd.Position.IsValid());
Utilities.Assert(bd.linearVelocity.IsValid());
Utilities.Assert(Utilities.IsValid(bd.angle));
Utilities.Assert(Utilities.IsValid(bd.angularVelocity));
Utilities.Assert(Utilities.IsValid(bd.angularDamping) && bd.angularDamping >= 0.0f);
Utilities.Assert(Utilities.IsValid(bd.linearDamping) && bd.linearDamping >= 0.0f);
m_flags = 0;
if (bd.bullet)
{
m_flags |= BodyFlags.e_bulletFlag;
}
if (bd.fixedRotation)
{
m_flags |= BodyFlags.e_fixedRotationFlag;
}
if (bd.allowSleep)
{
m_flags |= BodyFlags.e_autoSleepFlag;
}
if (bd.awake)
{
m_flags |= BodyFlags.e_awakeFlag;
}
if (bd.active)
{
m_flags |= BodyFlags.e_activeFlag;
}
m_world = world;
m_xf.p = bd.Position;
m_xf.q.Set(bd.angle);
m_sweep.localCenter.SetZero();
m_sweep.c0 = m_xf.p;
m_sweep.c = m_xf.p;
m_sweep.a0 = bd.angle;
m_sweep.a = bd.angle;
m_sweep.alpha0 = 0.0f;
m_jointList = new List <JointEdge>();
m_contactList = new List <ContactEdge>();
m_prev = null;
m_next = null;
m_linearVelocity = bd.linearVelocity;
m_angularVelocity = bd.angularVelocity;
m_linearDamping = bd.linearDamping;
m_angularDamping = bd.angularDamping;
m_gravityScale = bd.gravityScale;
m_force.SetZero();
m_torque = 0.0f;
m_sleepTime = 0.0f;
m_type = bd.type;
if (m_type == BodyType._dynamicBody)
{
m_mass = 1.0f;
m_invMass = 1.0f;
}
else
{
m_mass = 0.0f;
m_invMass = 0.0f;
}
m_I = 0.0f;
m_invI = 0.0f;
m_userData = bd.UserData;
m_fixtureList = new List <Fixture>();
}