public override void initTest(bool deserialized) { { BodyDef bd = new BodyDef(); bd.type = BodyType.DYNAMIC; bd.allowSleep = false; bd.position.set(0.0f, 10.0f); Body body = m_world.createBody(bd); PolygonShape shape = new PolygonShape(); shape.setAsBox(0.5f, 10.0f, new Vec2(20.0f, 0.0f), 0.0f); body.createFixture(shape, 5.0f); shape.setAsBox(0.5f, 10.0f, new Vec2(-20.0f, 0.0f), 0.0f); body.createFixture(shape, 5.0f); shape.setAsBox(20.0f, 0.5f, new Vec2(0.0f, 10.0f), 0.0f); body.createFixture(shape, 5.0f); shape.setAsBox(20.0f, 0.5f, new Vec2(0.0f, -10.0f), 0.0f); body.createFixture(shape, 5.0f); RevoluteJointDef jd = new RevoluteJointDef(); jd.bodyA = getGroundBody(); jd.bodyB = body; jd.localAnchorA.set(0.0f, 10.0f); jd.localAnchorB.set(0.0f, 0.0f); jd.referenceAngle = 0.0f; jd.motorSpeed = 0.05f*MathUtils.PI; jd.maxMotorTorque = 1e7f; jd.enableMotor = true; m_joint = (RevoluteJoint) m_world.createJoint(jd); } m_world.setParticleRadius(0.15f); m_world.setParticleDamping(0.2f); { ParticleGroupDef pd = new ParticleGroupDef(); pd.flags = 0; PolygonShape shape = new PolygonShape(); shape.setAsBox(9.0f, 9.0f, new Vec2(0.0f, 10.0f), 0.0f); pd.shape = shape; m_world.createParticleGroup(pd); } m_time = 0; }
public override void initTest(bool argDeserialized) { Body ground = null; { BodyDef bd = new BodyDef(); ground = getWorld().createBody(bd); EdgeShape shape = new EdgeShape(); shape.set(new Vec2(50.0f, 0.0f), new Vec2(-50.0f, 0.0f)); ground.createFixture(shape, 0.0f); } { CircleShape circle1 = new CircleShape(); circle1.m_radius = 1.0f; PolygonShape box = new PolygonShape(); box.setAsBox(0.5f, 5.0f); CircleShape circle2 = new CircleShape(); circle2.m_radius = 2.0f; BodyDef bd1 = new BodyDef(); bd1.type = BodyType.STATIC; bd1.position.set(10.0f, 9.0f); Body body1 = m_world.createBody(bd1); body1.createFixture(circle1, 5.0f); BodyDef bd2 = new BodyDef(); bd2.type = BodyType.DYNAMIC; bd2.position.set(10.0f, 8.0f); Body body2 = m_world.createBody(bd2); body2.createFixture(box, 5.0f); BodyDef bd3 = new BodyDef(); bd3.type = BodyType.DYNAMIC; bd3.position.set(10.0f, 6.0f); Body body3 = m_world.createBody(bd3); body3.createFixture(circle2, 5.0f); RevoluteJointDef jd1 = new RevoluteJointDef(); jd1.initialize(body2, body1, bd1.position); Joint joint1 = m_world.createJoint(jd1); RevoluteJointDef jd2 = new RevoluteJointDef(); jd2.initialize(body2, body3, bd3.position); Joint joint2 = m_world.createJoint(jd2); GearJointDef jd4 = new GearJointDef(); jd4.bodyA = body1; jd4.bodyB = body3; jd4.joint1 = joint1; jd4.joint2 = joint2; jd4.ratio = circle2.m_radius/circle1.m_radius; m_world.createJoint(jd4); } { CircleShape circle1 = new CircleShape(); circle1.m_radius = 1.0f; CircleShape circle2 = new CircleShape(); circle2.m_radius = 2.0f; PolygonShape box = new PolygonShape(); box.setAsBox(0.5f, 5.0f); BodyDef bd1 = new BodyDef(); bd1.type = BodyType.DYNAMIC; bd1.position.set(-3.0f, 12.0f); Body body1 = m_world.createBody(bd1); body1.createFixture(circle1, 5.0f); RevoluteJointDef jd1 = new RevoluteJointDef(); jd1.bodyA = ground; jd1.bodyB = body1; ground.getLocalPointToOut(bd1.position, ref jd1.localAnchorA); body1.getLocalPointToOut(bd1.position, ref jd1.localAnchorB); jd1.referenceAngle = body1.getAngle() - ground.getAngle(); m_joint1 = (RevoluteJoint) m_world.createJoint(jd1); BodyDef bd2 = new BodyDef(); bd2.type = BodyType.DYNAMIC; bd2.position.set(0.0f, 12.0f); Body body2 = m_world.createBody(bd2); body2.createFixture(circle2, 5.0f); RevoluteJointDef jd2 = new RevoluteJointDef(); jd2.initialize(ground, body2, bd2.position); m_joint2 = (RevoluteJoint) m_world.createJoint(jd2); BodyDef bd3 = new BodyDef(); bd3.type = BodyType.DYNAMIC; bd3.position.set(2.5f, 12.0f); Body body3 = m_world.createBody(bd3); body3.createFixture(box, 5.0f); PrismaticJointDef jd3 = new PrismaticJointDef(); jd3.initialize(ground, body3, bd3.position, new Vec2(0.0f, 1.0f)); jd3.lowerTranslation = -5.0f; jd3.upperTranslation = 5.0f; jd3.enableLimit = true; m_joint3 = (PrismaticJoint) m_world.createJoint(jd3); GearJointDef jd4 = new GearJointDef(); jd4.bodyA = body1; jd4.bodyB = body2; jd4.joint1 = m_joint1; jd4.joint2 = m_joint2; jd4.ratio = circle2.m_radius/circle1.m_radius; m_joint4 = (GearJoint) m_world.createJoint(jd4); GearJointDef jd5 = new GearJointDef(); jd5.bodyA = body2; jd5.bodyB = body3; jd5.joint1 = m_joint2; jd5.joint2 = m_joint3; jd5.ratio = 1f/circle2.m_radius; m_joint5 = (GearJoint) m_world.createJoint(jd5); } }
public override void processJoint(Joint joint, long tag) { if (tag == JOINT_TAG) { m_joint = (RevoluteJoint) joint; isLeft = m_joint.getMotorSpeed() > 0; } else { base.processJoint(joint, tag); } }
public override void initTest(bool deserialized) { if (deserialized) { return; } Body ground = null; { BodyDef bd = new BodyDef(); ground = getWorld().createBody(bd); EdgeShape shape = new EdgeShape(); shape.set(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f)); ground.createFixture(shape, 0.0f); } { CircleShape shape = new CircleShape(); shape.m_radius = 0.5f; BodyDef bd = new BodyDef(); bd.type = BodyType.DYNAMIC; RevoluteJointDef rjd = new RevoluteJointDef(); bd.position.set(-10f, 20.0f); Body body = getWorld().createBody(bd); body.createFixture(shape, 5.0f); float w = 100.0f; body.setAngularVelocity(w); body.setLinearVelocity(new Vec2(-8.0f*w, 0.0f)); rjd.initialize(ground, body, new Vec2(-10.0f, 12.0f)); rjd.motorSpeed = -1.0f*MathUtils.PI; rjd.maxMotorTorque = 10000.0f; rjd.enableMotor = false; rjd.lowerAngle = -0.25f*MathUtils.PI; rjd.upperAngle = 0.5f*MathUtils.PI; rjd.enableLimit = true; rjd.collideConnected = true; m_joint = (RevoluteJoint) getWorld().createJoint(rjd); } { CircleShape circle_shape = new CircleShape(); circle_shape.m_radius = 3.0f; BodyDef circle_bd = new BodyDef(); circle_bd.type = BodyType.DYNAMIC; circle_bd.position.set(5.0f, 30.0f); FixtureDef fd = new FixtureDef(); fd.density = 5.0f; fd.filter.maskBits = 1; fd.shape = circle_shape; Body ball = m_world.createBody(circle_bd); ball.createFixture(fd); PolygonShape polygon_shape = new PolygonShape(); polygon_shape.setAsBox(10.0f, 0.2f, new Vec2(-10.0f, 0.0f), 0.0f); BodyDef polygon_bd = new BodyDef(); polygon_bd.position.set(20.0f, 10.0f); polygon_bd.type = BodyType.DYNAMIC; polygon_bd.bullet = true; Body polygon_body = m_world.createBody(polygon_bd); polygon_body.createFixture(polygon_shape, 2.0f); RevoluteJointDef rjd = new RevoluteJointDef(); rjd.initialize(ground, polygon_body, new Vec2(20.0f, 10.0f)); rjd.lowerAngle = -0.25f*MathUtils.PI; rjd.upperAngle = 0.0f*MathUtils.PI; rjd.enableLimit = true; m_world.createJoint(rjd); } // Tests mass computation of a small object far from the origin { BodyDef bodyDef = new BodyDef(); bodyDef.type = BodyType.DYNAMIC; Body body = m_world.createBody(bodyDef); PolygonShape polyShape = new PolygonShape(); Vec2[] verts = new Vec2[3]; verts[0] = new Vec2(17.63f, 36.31f); verts[1] = new Vec2(17.52f, 36.69f); verts[2] = new Vec2(17.19f, 36.36f); polyShape.set(verts, 3); FixtureDef polyFixtureDef = new FixtureDef(); polyFixtureDef.shape = polyShape; polyFixtureDef.density = 1; body.createFixture(polyFixtureDef); // assertion hits inside here } }
public override void initTest(bool argDeserialized) { if (argDeserialized) { return; } m_offset.set(0.0f, 8.0f); m_motorSpeed = 2.0f; m_motorOn = true; Vec2 pivot = new Vec2(0.0f, 0.8f); // Ground { BodyDef bd = new BodyDef(); Body ground = getWorld().createBody(bd); EdgeShape shape = new EdgeShape(); shape.set(new Vec2(-50.0f, 0.0f), new Vec2(50.0f, 0.0f)); ground.createFixture(shape, 0.0f); shape.set(new Vec2(-50.0f, 0.0f), new Vec2(-50.0f, 10.0f)); ground.createFixture(shape, 0.0f); shape.set(new Vec2(50.0f, 0.0f), new Vec2(50.0f, 10.0f)); ground.createFixture(shape, 0.0f); } // Balls for (int i = 0; i < 40; ++i) { CircleShape shape = new CircleShape(); shape.m_radius = 0.25f; BodyDef bd = new BodyDef(); bd.type = BodyType.DYNAMIC; bd.position.set(-40.0f + 2.0f*i, 0.5f); Body body = getWorld().createBody(bd); body.createFixture(shape, 1.0f); } // Chassis { PolygonShape shape = new PolygonShape(); shape.setAsBox(2.5f, 1.0f); FixtureDef sd = new FixtureDef(); sd.density = 1.0f; sd.shape = shape; sd.filter.groupIndex = -1; BodyDef bd = new BodyDef(); bd.type = BodyType.DYNAMIC; bd.position.set(pivot); bd.position.addLocal(m_offset); m_chassis = getWorld().createBody(bd); m_chassis.createFixture(sd); } { CircleShape shape = new CircleShape(); shape.m_radius = 1.6f; FixtureDef sd = new FixtureDef(); sd.density = 1.0f; sd.shape = shape; sd.filter.groupIndex = -1; BodyDef bd = new BodyDef(); bd.type = BodyType.DYNAMIC; bd.position.set(pivot); bd.position.addLocal(m_offset); m_wheel = getWorld().createBody(bd); m_wheel.createFixture(sd); } { RevoluteJointDef jd = new RevoluteJointDef(); jd.initialize(m_wheel, m_chassis, pivot.add(m_offset)); jd.collideConnected = false; jd.motorSpeed = m_motorSpeed; jd.maxMotorTorque = 400.0f; jd.enableMotor = m_motorOn; m_motorJoint = (RevoluteJoint) getWorld().createJoint(jd); } Vec2 wheelAnchor; wheelAnchor = pivot.add(new Vec2(0.0f, -0.8f)); createLeg(-1.0f, wheelAnchor); createLeg(1.0f, wheelAnchor); m_wheel.setTransform(m_wheel.getPosition(), 120.0f*MathUtils.PI/180.0f); createLeg(-1.0f, wheelAnchor); createLeg(1.0f, wheelAnchor); m_wheel.setTransform(m_wheel.getPosition(), -120.0f*MathUtils.PI/180.0f); createLeg(-1.0f, wheelAnchor); createLeg(1.0f, wheelAnchor); }
public override void processJoint(Joint argJoint, long argTag) { if (argTag == MOTOR_TAG) { m_motorJoint = (RevoluteJoint) argJoint; m_motorOn = m_motorJoint.isMotorEnabled(); } }
public override void initTest(bool argDeserialized) { if (argDeserialized) { return; } Body leftWall = null; Body rightWall = null; { // Ground PolygonShape sd = new PolygonShape(); sd.setAsBox(50.0f, 10.0f); BodyDef bd = new BodyDef(); bd.type = BodyType.STATIC; bd.position = new Vec2(0.0f, -10.0f); Body b = getWorld().createBody(bd); FixtureDef fd = new FixtureDef(); fd.shape = sd; fd.friction = 1.0f; b.createFixture(fd); // Walls sd.setAsBox(3.0f, 50.0f); bd = new BodyDef(); bd.position = new Vec2(45.0f, 25.0f); rightWall = getWorld().createBody(bd); rightWall.createFixture(sd, 0); bd.position = new Vec2(-45.0f, 25.0f); leftWall = getWorld().createBody(bd); leftWall.createFixture(sd, 0); // Corners bd = new BodyDef(); sd.setAsBox(20.0f, 3.0f); bd.angle = (float) (-System.Math.PI/4.0); bd.position = new Vec2(-35f, 8.0f); Body myBod = getWorld().createBody(bd); myBod.createFixture(sd, 0); bd.angle = (float) (System.Math.PI/4.0); bd.position = new Vec2(35f, 8.0f); myBod = getWorld().createBody(bd); myBod.createFixture(sd, 0); // top sd.setAsBox(50.0f, 10.0f); bd.type = BodyType.STATIC; bd.angle = 0; bd.position = new Vec2(0.0f, 75.0f); b = getWorld().createBody(bd); fd.shape = sd; fd.friction = 1.0f; b.createFixture(fd); } CircleShape cd; FixtureDef fd2 = new FixtureDef(); BodyDef bd2 = new BodyDef(); bd2.type = BodyType.DYNAMIC; int numPieces = 5; float radius = 6f; bd2.position = new Vec2(0.0f, 10.0f); Body body = getWorld().createBody(bd2); for (int i = 0; i < numPieces; i++) { cd = new CircleShape(); cd.m_radius = 1.2f; fd2.shape = cd; fd2.density = 25; fd2.friction = .1f; fd2.restitution = .9f; float xPos = radius*(float) System.Math.Cos(2f*System.Math.PI*(i/(float) (numPieces))); float yPos = radius*(float) System.Math.Sin(2f*System.Math.PI*(i/(float) (numPieces))); cd.m_p.set(xPos, yPos); body.createFixture(fd2); } body.setBullet(false); RevoluteJointDef rjd = new RevoluteJointDef(); rjd.initialize(body, getGroundBody(), body.getPosition()); rjd.motorSpeed = MathUtils.PI; rjd.maxMotorTorque = 1000000.0f; rjd.enableMotor = true; joint = (RevoluteJoint) getWorld().createJoint(rjd); { int loadSize = 41; for (int j = 0; j < 15; j++) { for (int i = 0; i < loadSize; i++) { CircleShape circ = new CircleShape(); BodyDef bod = new BodyDef(); bod.type = BodyType.DYNAMIC; circ.m_radius = 1.0f + (i%2 == 0 ? 1.0f : -1.0f)*.5f*MathUtils.randomFloat(.5f, 1f); FixtureDef fd3 = new FixtureDef(); fd3.shape = circ; fd3.density = circ.m_radius*1.5f; fd3.friction = 0.5f; fd3.restitution = 0.7f; float xPos = -39f + 2*i; float yPos = 50f + j; bod.position = new Vec2(xPos, yPos); Body myBody = getWorld().createBody(bod); myBody.createFixture(fd3); } } } getWorld().setGravity(new Vec2(0, -50)); }
public override void processJoint(Joint argJoint, long argTag) { if (argTag == JOINT_TAG) { joint = (RevoluteJoint) argJoint; } }
public override void initTest(bool argDeserialized) { Body ground = null; { BodyDef bd = new BodyDef(); ground = getWorld().createBody(bd); EdgeShape shape = new EdgeShape(); shape.set(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f)); ground.createFixture(shape, 0.0f); } { Body prevBody = ground; // Define crank. { PolygonShape shape = new PolygonShape(); shape.setAsBox(0.5f, 2.0f); BodyDef bd = new BodyDef(); bd.type = BodyType.DYNAMIC; bd.position.set(0.0f, 7.0f); Body body = getWorld().createBody(bd); body.createFixture(shape, 2.0f); RevoluteJointDef rjd = new RevoluteJointDef(); rjd.initialize(prevBody, body, new Vec2(0.0f, 5.0f)); rjd.motorSpeed = 1.0f*MathUtils.PI; rjd.maxMotorTorque = 10000.0f; rjd.enableMotor = true; m_joint1 = (RevoluteJoint) getWorld().createJoint(rjd); prevBody = body; } // Define follower. { PolygonShape shape = new PolygonShape(); shape.setAsBox(0.5f, 4.0f); BodyDef bd = new BodyDef(); bd.type = BodyType.DYNAMIC; bd.position.set(0.0f, 13.0f); Body body = getWorld().createBody(bd); body.createFixture(shape, 2.0f); RevoluteJointDef rjd = new RevoluteJointDef(); rjd.initialize(prevBody, body, new Vec2(0.0f, 9.0f)); rjd.enableMotor = false; getWorld().createJoint(rjd); prevBody = body; } // Define piston { PolygonShape shape = new PolygonShape(); shape.setAsBox(1.5f, 1.5f); BodyDef bd = new BodyDef(); bd.type = BodyType.DYNAMIC; bd.fixedRotation = true; bd.position.set(0.0f, 17.0f); Body body = getWorld().createBody(bd); body.createFixture(shape, 2.0f); RevoluteJointDef rjd = new RevoluteJointDef(); rjd.initialize(prevBody, body, new Vec2(0.0f, 17.0f)); getWorld().createJoint(rjd); PrismaticJointDef pjd = new PrismaticJointDef(); pjd.initialize(ground, body, new Vec2(0.0f, 17.0f), new Vec2(0.0f, 1.0f)); pjd.maxMotorForce = 1000.0f; pjd.enableMotor = false; m_joint2 = (PrismaticJoint) getWorld().createJoint(pjd); } // Create a payload { PolygonShape shape = new PolygonShape(); shape.setAsBox(1.5f, 1.5f); BodyDef bd = new BodyDef(); bd.type = BodyType.DYNAMIC; bd.position.set(0.0f, 23.0f); Body body = getWorld().createBody(bd); body.createFixture(shape, 2.0f); } } }