public Confined()
{
{
BodyDef bd = new BodyDef();
Body ground = m_world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
// Floor
shape.SetAsEdge(new Vec2(-10.0f, 0.0f), new Vec2(10.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
// Left wall
shape.SetAsEdge(new Vec2(-10.0f, 0.0f), new Vec2(-10.0f, 20.0f));
ground.CreateFixture(shape, 0.0f);
// Right wall
shape.SetAsEdge(new Vec2(10.0f, 0.0f), new Vec2(10.0f, 20.0f));
ground.CreateFixture(shape, 0.0f);
// Roof
shape.SetAsEdge(new Vec2(-10.0f, 20.0f), new Vec2(10.0f, 20.0f));
ground.CreateFixture(shape, 0.0f);
}
m_world.Gravity = new Vec2(0.0f, 0.0f);
}
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;
}
public SphereStack()
{
{
BodyDef bd = new BodyDef();
Body ground = m_world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
{
CircleShape shape = new CircleShape();
for (int i = 0; i < e_count; ++i)
{
shape.Radius = Rand.RandomFloat(0.5f, 0.5f);
BodyDef bd = new BodyDef();
bd.BodyType = BodyType.Dynamic;
bd.Position = new Vec2(0.0f, 4.0f + 3.0f * i);
m_bodies[i] = m_world.CreateBody(bd);
m_bodies[i].CreateFixture(shape, 1.0f);
}
}
}
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 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);
}
}
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 VaryingRestitution()
{
{
BodyDef bd = new BodyDef();
Body ground = m_world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vec2(-40.0f, 0.0f), new Vec2(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 = {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.BodyType = BodyType.Dynamic;
bd.Position = new Vec2(-10.0f + 3.0f * i, 20.0f);
Body body = m_world.CreateBody(bd);
fd.Restitution = restitution[i];
fd.UserData = i;
body.CreateFixture(fd);
}
}
}
public void TestPolygonPositions()
{
PolygonShape polygon = new PolygonShape(1, m_metadata, m_extent, m_parts, m_positions);
Assert.AreEqual(polygon[0][0], new Cartographic(0.0, 0.0, 0.0));
Assert.AreEqual(polygon[0][1], new Cartographic(0.0, Constants.RadiansPerDegree, 0.0));
Assert.AreEqual(polygon[0][2], new Cartographic(Constants.RadiansPerDegree, Constants.RadiansPerDegree, 0.0));
Assert.AreEqual(polygon[0][3], new Cartographic(Constants.RadiansPerDegree, 0.0, 0.0));
Assert.AreEqual(polygon[0][4], new Cartographic(0.0, 0.0, 0.0));
}
/// <summary>
/// Writes the MultiPatch shape to its <see cref="CzmlDocument"/> as a series of polygon packets.
/// </summary>
public override void Write()
{
MultiPatchShape multipatch = (MultiPatchShape)m_shape;
List<Polygon> polygons = new List<Polygon>();
StringDictionary metadata = new StringDictionary();
var fields = multipatch.GetMetadataFields();
foreach (String field in fields)
{
metadata.Add(field, multipatch.GetMetadataValue(field));
}
for (int i = 0; i < multipatch.Count; i++)
{
List<ShapePart> polygonParts = new List<ShapePart>();
PolygonShape temp;
switch (multipatch.GetPartType(i))
{
case MultiPatchPartType.TriangleFan:
case MultiPatchPartType.TriangleStrip:
for (int j = 2; j < multipatch[i].Count; j++)
{
int firstIndex = (multipatch.GetPartType(i) == MultiPatchPartType.TriangleFan) ? 0 : j - 2;
Cartographic[] vertices = new Cartographic[] { multipatch[i][firstIndex], multipatch[i][j - 1], multipatch[i][j] };
ShapePart triangle = new ShapePart(vertices, 0, vertices.Length);
PolygonShape p = new PolygonShape(multipatch.RecordNumber, metadata, multipatch.Extent, new ShapePart[] { triangle });
(new Polygon(p, m_document, m_color)).Write();
}
break;
case MultiPatchPartType.Ring:
while (i < multipatch.Count && multipatch.GetPartType(i) == MultiPatchPartType.Ring)
{
temp = new PolygonShape(multipatch.RecordNumber, metadata, multipatch.Extent, new ShapePart[] { multipatch[i] });
(new Polygon(temp, m_document, m_color)).Write();
i++;
}
i--;
break;
case MultiPatchPartType.OuterRing:
case MultiPatchPartType.FirstRing:
polygonParts.Add(multipatch[i]);
MultiPatchPartType comparisonType = (multipatch.GetPartType(i) == MultiPatchPartType.OuterRing) ? MultiPatchPartType.InnerRing : MultiPatchPartType.Ring;
while (++i < multipatch.Count && multipatch.GetPartType(i) == comparisonType)
{
polygonParts.Add(multipatch[i]);
}
temp = new PolygonShape(multipatch.RecordNumber, metadata, multipatch.Extent, polygonParts.ToArray());
(new Polygon(temp, m_document, m_color)).Write();
i--;
break;
}
}
}
public static void CollidePolygonAndCircle(out Manifold manifold, PolygonShape polygon, Transform xf1, CircleShape circle, Transform xf2)
{
var polyLock = polygon.Lock();
var circleLock = circle.Lock();
NativeMethods.cb2_collidepolygonandcircle(out manifold, polyLock, xf1, circleLock, xf2);
polygon.Unlock();
circle.Unlock();
}
public static void CollidePolygons(out Manifold manifold, PolygonShape poly1, Transform xf1, PolygonShape poly2, Transform xf2)
{
var poly1Lock = poly1.Lock();
var poly2Lock = poly2.Lock();
NativeMethods.cb2_collidepolygons(out manifold, poly1Lock, xf1, poly2Lock, xf2);
poly1.Unlock();
poly2.Unlock();
}
public static PolygonShape CreateEqlTriangle(float sideLength, float density)
{
FVector2[] pointList = new FVector2[3];
pointList[0] = new FVector2(0.0f, sideLength*0.25f*SR3);
pointList[1] = new FVector2(sideLength*-0.5f, sideLength*-0.25f*SR3);
pointList[2] = new FVector2(sideLength*0.5f, sideLength*-0.25f*SR3);
PolygonShape shape = new PolygonShape(new Vertices(pointList), density);
return shape;
}
public Revolute()
{
System.Collections.Generic.List<JointDef> joints = new System.Collections.Generic.List<JointDef>();
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = m_world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
{
CircleShape shape = new CircleShape();
shape.Radius = 0.5f;
BodyDef bd = new BodyDef();
bd.BodyType = BodyType.Dynamic;
RevoluteJointDef rjd = new RevoluteJointDef();
bd.Position = new Vec2(0.0f, 20.0f);
Body body = m_world.CreateBody(bd);
body.CreateFixture(shape, 5.0f);
float w = 100.0f;
body.AngularVelocity = w;
body.LinearVelocity = new Vec2(-8.0f * w, 0.0f);
rjd.Initialize(ground, body, new Vec2(0.0f, 12.0f));
rjd.MotorSpeed = 1.0f * (float)Math.PI;
rjd.MaxMotorTorque = 10000.0f;
rjd.EnableMotor = false;
rjd.LowerAngle = -0.25f * (float)Math.PI;
rjd.UpperAngle = 0.5f * (float)Math.PI;
rjd.EnableLimit = true;
rjd.CollideConnected = true;
m_joint = (RevoluteJoint)m_world.CreateJoint(rjd);
joints.Add(rjd);
}
using (System.IO.FileStream fs = new System.IO.FileStream("out.xml", System.IO.FileMode.Create))
{
var serializer = Box2CS.Serialize.WorldSerializer.SerializeWorld(m_world, new Box2CS.Serialize.WorldXmlSerializer());
foreach (var j in joints)
serializer.AddJoint(j);
serializer.Serialize(fs);
}
}
public static PolygonShape CreateDiamond(float height, float width, float density)
{
if(height <= 0.0f || width <= 0.0f) {
print ("INVALID SIZE VALUE FOR DIAMOND CLASS");
}
FVector2[] pointList = new FVector2[4];
pointList[0] = new FVector2(0.0f, height/2.0f);
pointList[1] = new FVector2(-width/2.0f, 0.0f);
pointList[2] = new FVector2(0.0f, -height/2.0f);
pointList[3] = new FVector2(width/2.0f, 0.0f);
PolygonShape shape = new PolygonShape(new Vertices(pointList), density);
return shape;
}
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 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 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);
}
private static int GetFixedPointIndex(PolygonShape sourcePolygonShape, PointShape sourceControlPointShape)
{
var index = 0;
for (var i = 0; i < sourcePolygonShape.OuterRing.Vertices.Count; i++)
{
var vertex = sourcePolygonShape.OuterRing.Vertices[i];
if (Math.Abs(vertex.X - sourceControlPointShape.X) > 10E-6 || Math.Abs(vertex.Y - sourceControlPointShape.Y) > 10E-6) continue;
index = i;
break;
}
int fixedPointIndex;
if (index <= 2) fixedPointIndex = index + 2;
else fixedPointIndex = index - 2;
return fixedPointIndex;
}
private void SetupPhysics()
{
if(body == null) {
body = GetComponent<FSBodyComponent>().PhysicsBody;
body.OnCollision += OnCollisionEvent;
Vertices vertices = TriangleIsosceles.CreateVertexList(length, angle);
FVector2 firstPoint = vertices.NextVertex(0);
vertices.Translate(new FVector2(-firstPoint.X, -firstPoint.Y));
vertices.Rotate(Mathf.PI/180.0f * angle);
PolygonShape polyTemp = new PolygonShape(vertices, 1.0f);
body.CreateFixture(polyTemp);
}
}
public Polygon(PolygonShape type, bool computeUVs)
{
Shape = type;
_computeUvs = computeUVs;
Vertices = new Vector3[VertexCount];
TextureUVs = new Vector2[VertexCount];
if (_computeUvs)
{
TextureUVs[0] = new Vector2(0, 0);
TextureUVs[1] = new Vector2(1, 0);
TextureUVs[2] = new Vector2(1, 1);
TextureUVs[3] = new Vector2(0, 0);
TextureUVs[4] = new Vector2(1, 1);
TextureUVs[5] = new Vector2(0, 1);
}
}
public Prismatic()
{
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = m_world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(2.0f, 0.5f);
BodyDef bd = new BodyDef();
bd.BodyType = BodyType.Dynamic;
bd.Position = new Vec2(-10.0f, 10.0f);
bd.Angle = 0.5f * (float)Math.PI;
bd.AllowSleep = false;
Body body = m_world.CreateBody(bd);
body.CreateFixture(shape, 5.0f);
PrismaticJointDef pjd = new PrismaticJointDef();
// Bouncy limit
Vec2 axis = new Vec2(2.0f, 1.0f);
axis.Normalize();
pjd.Initialize(ground, body, new Vec2(0.0f, 0.0f), axis);
// Non-bouncy limit
//pjd.Initialize(ground, body, 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 = false;
m_joint = (PrismaticJoint)m_world.CreateJoint(pjd);
}
}
/// Main...
public ElasticBody()
{
Program.MainForm.ViewZoom = 0.25f;
/// Bottom static body
{
PolygonShape sd = new PolygonShape();
sd.SetAsBox(50.0f, 2.0f);
BodyDef bd = new BodyDef();
bd.Position = new Vec2(-1.0f, -7.5f);
m_ground = m_world.CreateBody(bd);
m_ground.CreateFixture(new FixtureDef(sd, 0.0f, 0.1f, 0.1f));
}
/// "Elastic body" 64 bodies - something like a lin. elastic compound
/// connected via dynamic forces (springs)
{
PolygonShape sd = new PolygonShape();
sd.SetAsBox(width, height);
FixtureDef sdf = new FixtureDef();
sdf.Density = 1.5f;
sdf.Friction = 0.01f;
sdf.Filter.GroupIndex = -1;
sdf.Shape = sd;
Vec2 startpoint = new Vec2(0, 0);
BodyDef bd = new BodyDef();
bd.BodyType = BodyType.Dynamic;
bd.Bullet = false;
//bd.AllowSleep = false;
for (int i = 0; i < BodyCountY; ++i)
{
for (int j = 0; j < BodyCountX; ++j)
{
bd.Position = new Vec2(j*(width*2), 2.51f + (height*2) * i);
bd.Position += startpoint;
Body body = m_world.CreateBody(bd);
bodies[BodyCountX*i+j] = body;
body.CreateFixture(sdf);
}
}
}
}
public SensorTest()
{
{
BodyDef bd = new BodyDef();
Body ground = m_world.CreateBody(bd);
{
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
{
CircleShape shape = new CircleShape();
shape.Radius = 5.0f;
shape.Position = new Vec2(0.0f, 10.0f);
FixtureDef fd = new FixtureDef();
fd.Shape = shape;
fd.IsSensor = true;
m_sensor = ground.CreateFixture(fd);
}
}
{
CircleShape shape = new CircleShape();
for (int i = 0; i < e_count; ++i)
{
shape.Radius = Rand.RandomFloat(0.85f, 1.0f);
BodyDef bd = new BodyDef();
bd.BodyType = BodyType.Dynamic;
bd.Position = new Vec2(-10.0f + 3.0f * i, 20.0f);
bd.UserData = i;
m_touching[i] = false;
m_bodies[i] = m_world.CreateBody(bd);
m_bodies[i].CreateFixture(shape, 1.0f);
}
}
}
/// <summary>
/// Call this to initialize a Behaviour with data supplied in a file.
/// </summary>
/// <param name="fileName">The file to load from.</param>
public override void LoadContent(String fileName)
{
base.LoadContent(fileName);
Int32[] input = { 1, 7, 2, 2, 3, /**/ 15, 16, 14, 16, 17 };
mMapData = new List<Int32>(input);
TileMapRenderDefinition def = GameObjectManager.pInstance.pContentManager.Load<TileMapRenderDefinition>(fileName);
mTexture = GameObjectManager.pInstance.pContentManager.Load<Texture2D>(def.mSpriteFileName);
mSourceWidth = 16;
mSourceHeight = 16;
mMapCountWidth = mTexture.Width / mSourceWidth;
mMapCountHeight = mTexture.Height / mSourceHeight;
var shape = new PolygonShape();
shape.SetAsBox(PhysicsManager.pInstance.ScreenToPhysicalWorld(mSourceWidth / 2 * 5),
PhysicsManager.pInstance.ScreenToPhysicalWorld(mSourceHeight / 2 * 2));
var fd = new FixtureDef();
fd.shape = shape;
fd.restitution = 0.0f;
fd.friction = 0.5f;
fd.density = 0.0f;
BodyDef bd = new BodyDef();
mGround = PhysicsManager.pInstance.pWorld.CreateBody(bd);
mGround.CreateFixture(fd);
shape.SetAsBox(PhysicsManager.pInstance.ScreenToPhysicalWorld(mSourceWidth / 2 * 5),
PhysicsManager.pInstance.ScreenToPhysicalWorld(mSourceHeight / 2 * 2),
PhysicsManager.pInstance.ScreenToPhysicalWorld(new Vector2(mSourceWidth * -5, 0.0f)),
0.0f);
fd = new FixtureDef();
fd.shape = shape;
fd.restitution = 0.0f;
fd.friction = 0.5f;
fd.density = 0.0f;
mGround.CreateFixture(fd);
}
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;
}
}
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 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;
}
}
}
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 Body[] GenerateBodies(World world, Vec2 basePosition, FixtureDef def)
{
if (_vecs.Count <= 1)
throw new ArgumentOutOfRangeException("Vecs");
Body[] bodies = new Body[_vecs.Count - 1];
for (int i = 0; i < _vecs.Count - 1; ++i)
{
PolygonShape edge = new PolygonShape(_vecs[i], _vecs[i + 1]);
BodyDef bd = new BodyDef();
bd.Position = basePosition;
bodies[i] = world.CreateBody(bd);
bodies[i].CreateFixture(new FixtureDef(edge, 0, def.Restitution, def.Friction, false, def.UserData));
}
return bodies;
}
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.");
}
private BodyTypesTest()
{
//Ground
BodyFactory.CreateEdge(World, new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
// Define attachment
{
_attachment = BodyFactory.CreateBody(World);
_attachment.BodyType = BodyType.Dynamic;
_attachment.Position = new Vector2(0.0f, 3.0f);
Vertices box = PolygonTools.CreateRectangle(0.5f, 2.0f);
PolygonShape shape = new PolygonShape(box, 2);
_attachment.CreateFixture(shape);
}
// Define platform
{
_platform = BodyFactory.CreateBody(World);
_platform.BodyType = BodyType.Dynamic;
_platform.Position = new Vector2(0.0f, 5.0f);
Vertices box = PolygonTools.CreateRectangle(4.0f, 0.5f);
PolygonShape shape = new PolygonShape(box, 2);
Fixture fixture = _platform.CreateFixture(shape);
fixture.Friction = 0.6f;
RevoluteJoint rjd = new RevoluteJoint(_attachment, _platform,
_attachment.GetLocalPoint(_platform.Position),
Vector2.Zero);
rjd.MaxMotorTorque = 50.0f;
rjd.MotorEnabled = true;
World.AddJoint(rjd);
//FixedPrismaticJoint pjd = new FixedPrismaticJoint(_platform, new Vector2(0.0f, 5.0f),
// new Vector2(1.0f, 0.0f));
//pjd.MaxMotorForce = 1000.0f;
//pjd.MotorEnabled = true;
//pjd.LowerLimit = -10.0f;
//pjd.UpperLimit = 10.0f;
//pjd.LimitEnabled = true;
//World.AddJoint(pjd);
_speed = 3.0f;
}
// Create a payload
{
Body body = BodyFactory.CreateBody(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(0.0f, 8.0f);
Vertices box = PolygonTools.CreateRectangle(0.75f, 0.75f);
PolygonShape shape = new PolygonShape(box, 2);
Fixture fixture = body.CreateFixture(shape);
fixture.Friction = 0.6f;
}
}
public TheoJansen()
{
_offset.Set(0.0f, 8.0f);
_motorSpeed = 2.0f;
_motorOn = true;
var pivot = new Vector2(0.0f, 0.8f);
// Ground
{
var bd = new BodyDef();
var ground = World.CreateBody(bd);
var shape = new EdgeShape();
shape.SetTwoSided(new Vector2(-50.0f, 0.0f), new Vector2(50.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
shape.SetTwoSided(new Vector2(-50.0f, 0.0f), new Vector2(-50.0f, 10.0f));
ground.CreateFixture(shape, 0.0f);
shape.SetTwoSided(new Vector2(50.0f, 0.0f), new Vector2(50.0f, 10.0f));
ground.CreateFixture(shape, 0.0f);
}
// Balls
for (var i = 0; i < 40; ++i)
{
var shape = new CircleShape();
shape.Radius = 0.25f;
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position.Set(-40.0f + 2.0f * i, 0.5f);
var body = World.CreateBody(bd);
body.CreateFixture(shape, 1.0f);
}
// Chassis
{
var shape = new PolygonShape();
shape.SetAsBox(2.5f, 1.0f);
var sd = new FixtureDef();
sd.Density = 1.0f;
sd.Shape = shape;
sd.Filter.GroupIndex = -1;
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position = pivot + _offset;
_chassis = World.CreateBody(bd);
_chassis.CreateFixture(sd);
}
{
var shape = new CircleShape();
shape.Radius = 1.6f;
var sd = new FixtureDef();
sd.Density = 1.0f;
sd.Shape = shape;
sd.Filter.GroupIndex = -1;
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position = pivot + _offset;
_wheel = World.CreateBody(bd);
_wheel.CreateFixture(sd);
}
{
var 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)Math.PI / 180.0f);
CreateLeg(-1.0f, wheelAnchor);
CreateLeg(1.0f, wheelAnchor);
_wheel.SetTransform(_wheel.GetPosition(), -120.0f * (float)Math.PI / 180.0f);
CreateLeg(-1.0f, wheelAnchor);
CreateLeg(1.0f, wheelAnchor);
}
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 void Create(BroadPhase broadPhase, Body body, XForm xf, FixtureDef def)
{
UserData = def.UserData;
Friction = def.Friction;
Restitution = def.Restitution;
Density = def.Density;
_body = body;
_next = null;
Filter = def.Filter;
_isSensor = def.IsSensor;
_type = def.Type;
// Allocate and initialize the child shape.
switch (_type)
{
case ShapeType.CircleShape:
{
CircleShape circle = new CircleShape();
CircleDef circleDef = (CircleDef)def;
circle._position = circleDef.LocalPosition;
circle._radius = circleDef.Radius;
_shape = circle;
}
break;
case ShapeType.PolygonShape:
{
PolygonShape polygon = new PolygonShape();
PolygonDef polygonDef = (PolygonDef)def;
polygon.Set(polygonDef.Vertices, polygonDef.VertexCount);
_shape = polygon;
}
break;
case ShapeType.EdgeShape:
{
EdgeShape edge = new EdgeShape();
EdgeDef edgeDef = (EdgeDef)def;
edge.Set(edgeDef.Vertex1, edgeDef.Vertex2);
_shape = edge;
}
break;
default:
Box2DNetDebug.Assert(false);
break;
}
// Create proxy in the broad-phase.
AABB aabb;
_shape.ComputeAABB(out aabb, xf);
bool inRange = broadPhase.InRange(aabb);
// You are creating a shape outside the world box.
Box2DNetDebug.Assert(inRange);
_proxyId = inRange ? broadPhase.CreateProxy(aabb, this) : PairManager.NullProxy;
}
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);
}
}
}
private CarTest()
{
_hz = 4.0f;
_zeta = 0.7f;
_speed = 50.0f;
Body ground = new Body(World);
{
EdgeShape shape = new EdgeShape(new Vector2(-20.0f, 0.0f), new Vector2(20.0f, 0.0f));
ground.CreateFixture(shape);
float[] hs = new[] { 0.25f, 1.0f, 4.0f, 0.0f, 0.0f, -1.0f, -2.0f, -2.0f, -1.25f, 0.0f };
float x = 20.0f, y1 = 0.0f;
const float dx = 5.0f;
for (int i = 0; i < 10; ++i)
{
float y2 = hs[i];
FixtureFactory.AttachEdge(new Vector2(x, y1), new Vector2(x + dx, y2), ground);
y1 = y2;
x += dx;
}
for (int i = 0; i < 10; ++i)
{
float y2 = hs[i];
FixtureFactory.AttachEdge(new Vector2(x, y1), new Vector2(x + dx, y2), ground);
y1 = y2;
x += dx;
}
FixtureFactory.AttachEdge(new Vector2(x, 0.0f), new Vector2(x + 40.0f, 0.0f), ground);
x += 80.0f;
FixtureFactory.AttachEdge(new Vector2(x, 0.0f), new Vector2(x + 40.0f, 0.0f), ground);
x += 40.0f;
FixtureFactory.AttachEdge(new Vector2(x, 0.0f), new Vector2(x + 10.0f, 5.0f), ground);
x += 20.0f;
FixtureFactory.AttachEdge(new Vector2(x, 0.0f), new Vector2(x + 40.0f, 0.0f), ground);
x += 40.0f;
FixtureFactory.AttachEdge(new Vector2(x, 0.0f), new Vector2(x, 20.0f), ground);
ground.Friction = 0.6f;
}
// Teeter
{
Body body = new Body(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(140.0f, 1.0f);
PolygonShape box = new PolygonShape(1);
box.SetAsBox(10.0f, 0.25f);
body.CreateFixture(box);
RevoluteJoint jd = JointFactory.CreateRevoluteJoint(ground, body, Vector2.Zero);
jd.LowerLimit = -8.0f * Settings.Pi / 180.0f;
jd.UpperLimit = 8.0f * Settings.Pi / 180.0f;
jd.LimitEnabled = true;
World.AddJoint(jd);
body.ApplyAngularImpulse(100.0f);
}
//Bridge
{
const int N = 20;
PolygonShape shape = new PolygonShape(1);
shape.SetAsBox(1.0f, 0.125f);
Body prevBody = ground;
for (int i = 0; i < N; ++i)
{
Body body = new Body(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(161.0f + 2.0f * i, -0.125f);
Fixture fix = body.CreateFixture(shape);
fix.Friction = 0.6f;
Vector2 anchor = new Vector2(-1, 0);
JointFactory.CreateRevoluteJoint(World, prevBody, body, anchor);
prevBody = body;
}
Vector2 anchor2 = new Vector2(1.0f, 0);
JointFactory.CreateRevoluteJoint(World, ground, prevBody, anchor2);
}
// Boxes
{
PolygonShape box = new PolygonShape(0.5f);
box.SetAsBox(0.5f, 0.5f);
Body body = new Body(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(230.0f, 0.5f);
body.CreateFixture(box);
body = new Body(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(230.0f, 1.5f);
body.CreateFixture(box);
body = new Body(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(230.0f, 2.5f);
body.CreateFixture(box);
body = new Body(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(230.0f, 3.5f);
body.CreateFixture(box);
body = new Body(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(230.0f, 4.5f);
body.CreateFixture(box);
}
// Car
{
Vertices vertices = new Vertices(8);
vertices.Add(new Vector2(-1.5f, -0.5f));
vertices.Add(new Vector2(1.5f, -0.5f));
vertices.Add(new Vector2(1.5f, 0.0f));
vertices.Add(new Vector2(0.0f, 0.9f));
vertices.Add(new Vector2(-1.15f, 0.9f));
vertices.Add(new Vector2(-1.5f, 0.2f));
PolygonShape chassis = new PolygonShape(vertices, 1);
CircleShape circle = new CircleShape(0.4f, 1);
_car = new Body(World);
_car.BodyType = BodyType.Dynamic;
_car.Position = new Vector2(0.0f, 1.0f);
_car.CreateFixture(chassis);
_wheel1 = new Body(World);
_wheel1.BodyType = BodyType.Dynamic;
_wheel1.Position = new Vector2(-1.0f, 0.35f);
Fixture fix = _wheel1.CreateFixture(circle);
fix.Friction = 0.9f;
_wheel2 = new Body(World);
_wheel2.BodyType = BodyType.Dynamic;
_wheel2.Position = new Vector2(1.0f, 0.4f);
_wheel2.CreateFixture(circle);
Vector2 axis = new Vector2(0.0f, 1.0f);
_spring1 = new LineJoint(_car, _wheel1, _wheel1.Position, axis);
_spring1.MotorSpeed = 0.0f;
_spring1.MaxMotorTorque = 20.0f;
_spring1.MotorEnabled = true;
_spring1.Frequency = _hz;
_spring1.DampingRatio = _zeta;
World.AddJoint(_spring1);
_spring2 = new LineJoint(_car, _wheel2, _wheel2.Position, axis);
_spring2.MotorSpeed = 0.0f;
_spring2.MaxMotorTorque = 10.0f;
_spring2.MotorEnabled = false;
_spring2.Frequency = _hz;
_spring2.DampingRatio = _zeta;
World.AddJoint(_spring2);
}
}
public override void Initialize()
{
Settings.VelocityIterations = 2;
Settings.PositionIterations = 4;
GameInstance.ViewCenter = Vector2.Zero;
_worldSize = 2 * GameInstance.ConvertScreenToWorld(GameInstance.Window.ClientBounds.Width, 0);
//Create a World using QuadTree constructor
var worldSpan = new AABB(-_worldSize / 2, _worldSize / 2);
World = new World(new QuadTreeBroadPhase(worldSpan));
//Create a World using DynamicTree constructor
//World = new World();
//
//set up gravity
//
World.Gravity = new Vector2(0.0f, -10.0f);
//
//set up border
//
float halfWidth = _worldSize.X / 2 - 2f;
float halfHeight = _worldSize.Y / 2 - 2f;
Vertices borders = new Vertices(4);
borders.Add(new Vector2(-halfWidth, halfHeight));
borders.Add(new Vector2(halfWidth, halfHeight));
borders.Add(new Vector2(halfWidth, -halfHeight));
borders.Add(new Vector2(-halfWidth, -halfHeight));
Body anchor = World.CreateLoopShape(borders);
anchor.SetCollisionCategories(Category.All);
anchor.SetCollidesWith(Category.All);
//
//box
//
Vertices bigbox = PolygonTools.CreateRectangle(3f, 3f);
PolygonShape bigshape = new PolygonShape(bigbox, 5);
Body bigbody = World.CreateBody();
bigbody.BodyType = BodyType.Dynamic;
bigbody.Position = Vector2.UnitX * 25;
bigbody.CreateFixture(bigshape);
World.Remove(bigbody);
//
//populate
//
const int rad = 12;
const float a = 0.6f;
const float sep = 0.000f;
Vector2 cent = Vector2.Zero;
for (int y = -rad; y <= +rad; y++)
{
int xrad = (int)Math.Round(Math.Sqrt(rad * rad - y * y));
for (int x = -xrad; x <= +xrad; x++)
{
Vector2 pos = cent + new Vector2(x * (2 * a + sep), y * (2 * a + sep));
Body cBody = World.CreateCircle(a, 55, pos);
cBody.BodyType = BodyType.Dynamic;
}
}
base.Initialize();
}
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;
}
//Cutting a shape into two is based on the work of Daid and his prototype BoxCutter: http://www.box2d.org/forum/viewtopic.php?f=3&t=1473
/// <summary>
/// Split a fixture into 2 vertice collections using the given entry and exit-point.
/// </summary>
/// <param name="fixture">The Fixture to split</param>
/// <param name="entryPoint">The entry point - The start point</param>
/// <param name="exitPoint">The exit point - The end point</param>
/// <param name="first">The first collection of vertexes</param>
/// <param name="second">The second collection of vertexes</param>
public static void SplitShape(Fixture fixture, Vector2 entryPoint, Vector2 exitPoint, out Vertices first, out Vertices second)
{
Vector2 localEntryPoint = fixture.Body.GetLocalPoint(ref entryPoint);
Vector2 localExitPoint = fixture.Body.GetLocalPoint(ref exitPoint);
PolygonShape shape = fixture.Shape as PolygonShape;
//We can only cut polygons at the moment
if (shape == null)
{
first = new Vertices();
second = new Vertices();
return;
}
//Offset the entry and exit points if they are too close to the vertices
foreach (Vector2 vertex in shape.Vertices)
{
if (vertex.Equals(localEntryPoint))
{
localEntryPoint -= new Vector2(0, Settings.Epsilon);
}
if (vertex.Equals(localExitPoint))
{
localExitPoint += new Vector2(0, Settings.Epsilon);
}
}
Vertices vertices = new Vertices(shape.Vertices);
Vertices[] newPolygon = new Vertices[2];
for (int i = 0; i < newPolygon.Length; i++)
{
newPolygon[i] = new Vertices(vertices.Count);
}
int[] cutAdded = { -1, -1 };
int last = -1;
for (int i = 0; i < vertices.Count; i++)
{
int n;
//Find out if this vertex is on the old or new shape.
if (Vector2.Dot(MathUtils.Cross(localExitPoint - localEntryPoint, 1), vertices[i] - localEntryPoint) > Settings.Epsilon)
{
n = 0;
}
else
{
n = 1;
}
if (last != n)
{
//If we switch from one shape to the other add the cut vertices.
if (last == 0)
{
Debug.Assert(cutAdded[0] == -1);
cutAdded[0] = newPolygon[last].Count;
newPolygon[last].Add(localExitPoint);
newPolygon[last].Add(localEntryPoint);
}
if (last == 1)
{
Debug.Assert(cutAdded[last] == -1);
cutAdded[last] = newPolygon[last].Count;
newPolygon[last].Add(localEntryPoint);
newPolygon[last].Add(localExitPoint);
}
}
newPolygon[n].Add(vertices[i]);
last = n;
}
//Add the cut in case it has not been added yet.
if (cutAdded[0] == -1)
{
cutAdded[0] = newPolygon[0].Count;
newPolygon[0].Add(localExitPoint);
newPolygon[0].Add(localEntryPoint);
}
if (cutAdded[1] == -1)
{
cutAdded[1] = newPolygon[1].Count;
newPolygon[1].Add(localEntryPoint);
newPolygon[1].Add(localExitPoint);
}
for (int n = 0; n < 2; n++)
{
Vector2 offset;
if (cutAdded[n] > 0)
{
offset = (newPolygon[n][cutAdded[n] - 1] - newPolygon[n][cutAdded[n]]);
}
else
{
offset = (newPolygon[n][newPolygon[n].Count - 1] - newPolygon[n][0]);
}
offset = Vector2.Normalize(offset);
if (!offset.IsValid())
{
offset = Vector2.One;
}
newPolygon[n][cutAdded[n]] += Settings.Epsilon * offset;
if (cutAdded[n] < newPolygon[n].Count - 2)
{
offset = (newPolygon[n][cutAdded[n] + 2] - newPolygon[n][cutAdded[n] + 1]);
}
else
{
offset = (newPolygon[n][0] - newPolygon[n][newPolygon[n].Count - 1]);
}
offset = Vector2.Normalize(offset);
if (!offset.IsValid())
{
offset = Vector2.One;
}
newPolygon[n][cutAdded[n] + 1] += Settings.Epsilon * offset;
}
first = newPolygon[0];
second = newPolygon[1];
}
//private void SetupAnimationForOverlay(LayerOverlay overlay)
//{
// overlay.Drawing -= overlay_Drawing;
// overlay.Drawing += overlay_Drawing;
// overlay.Drawn -= overlay_Drawn;
// overlay.Drawn += overlay_Drawn;
//}
private void WpfMap_MapClick(object sender, MapClickWpfMapEventArgs e)
{
if (isIdentify)
{
PointShape point = e.WorldLocation;
if (!map.Overlays.Contains(chartsOverlayName))
{
return;
}
LayerOverlay overlay = map.Overlays[chartsOverlayName] as LayerOverlay;
var features = new Collection <Feature>();
NauticalChartsFeatureLayer hydrographyFeatureLayer = null;
foreach (var item in overlay.Layers)
{
NauticalChartsFeatureLayer itemLayer = item as NauticalChartsFeatureLayer;
itemLayer.Open();
features = itemLayer.QueryTools.GetFeaturesIntersecting(point.GetBoundingBox(), ReturningColumnsType.AllColumns);
if (features.Count > 0)
{
hydrographyFeatureLayer = itemLayer;
break;
}
}
if (features.Count > 0)
{
List <FeatureInfo> selectedFeatures = new List <FeatureInfo>();
foreach (var item in features)
{
double area = double.MaxValue;
PolygonShape areaShape = item.GetShape() as PolygonShape;
if (areaShape != null)
{
area = areaShape.GetArea(map.MapUnit, AreaUnit.SquareMeters);
}
selectedFeatures.Add(new FeatureInfo(item, hydrographyFeatureLayer.Name, area));
}
if (map.Overlays.Contains(highlightOverlayName))
{
map.Overlays.Remove(highlightOverlayName);
}
IEnumerable <FeatureInfo> featureInfos = selectedFeatures.OrderBy(p => p.Area);
SelectedFeatureInfo = featureInfos.FirstOrDefault();
NauticalChartsFeatureSource featureSource = hydrographyFeatureLayer.FeatureSource as NauticalChartsFeatureSource;
if (featureSource != null)
{
ChartSelectedItem = new ChartSelectedItem(featureSource.NauticalChartsPathFilename, featureInfos);
}
}
else
{
if (map.Overlays.Contains(highlightOverlayName))
{
map.Overlays.Remove(highlightOverlayName);
}
map.Refresh();
}
}
}
public Logic()
{
polygon = new PolygonShape();
polygonCollection = new ObservableCollection <PolygonShape>();
}
private BridgeTest()
{
Body ground;
{
ground = new Body(World);
EdgeShape shape = new EdgeShape(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
ground.CreateFixture(shape);
}
{
Vertices box = PolygonTools.CreateRectangle(0.5f, 0.125f);
PolygonShape shape = new PolygonShape(box, 20);
Body prevBody = ground;
for (int i = 0; i < Count; ++i)
{
Body body = BodyFactory.CreateBody(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(-14.5f + 1.0f * i, 5.0f);
Fixture fixture = body.CreateFixture(shape);
fixture.Friction = 0.2f;
Vector2 anchor = new Vector2(-0.5f, 0.0f);
RevoluteJoint jd = new RevoluteJoint(prevBody, body,
prevBody.GetLocalPoint(body.GetWorldPoint(anchor)), anchor);
World.AddJoint(jd);
prevBody = body;
}
Vector2 anchor2 = new Vector2(0.5f, 0.0f);
RevoluteJoint jd2 = new RevoluteJoint(ground, prevBody,
ground.GetLocalPoint(prevBody.GetWorldPoint(anchor2)), anchor2);
World.AddJoint(jd2);
}
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));
for (int i = 0; i < 2; ++i)
{
PolygonShape shape = new PolygonShape(vertices, 1);
Body body = BodyFactory.CreateBody(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(-8.0f + 8.0f * i, 12.0f);
body.CreateFixture(shape);
}
for (int i = 0; i < 3; ++i)
{
CircleShape shape = new CircleShape(0.5f, 1);
Body body = BodyFactory.CreateBody(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(-6.0f + 6.0f * i, 10.0f);
body.CreateFixture(shape);
}
}
private DominosTest()
{
Body b1 = BodyFactory.CreateEdge(World, new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
{
Vertices box = PolygonUtils.CreateRectangle(6.0f, 0.25f);
PolygonShape shape = new PolygonShape(box, 0);
Body ground = BodyFactory.CreateBody(World);
ground.Position = new Vector2(-1.5f, 10.0f);
ground.CreateFixture(shape);
}
{
Vertices box = PolygonUtils.CreateRectangle(0.1f, 1.0f);
PolygonShape shape = new PolygonShape(box, 20);
for (int i = 0; i < 10; ++i)
{
Body body = BodyFactory.CreateBody(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(-6.0f + 1.0f * i, 11.25f);
Fixture fixture = body.CreateFixture(shape);
fixture.Friction = 0.1f;
}
}
{
Vertices box = PolygonUtils.CreateRectangle(7.0f, 0.25f, Vector2.Zero, 0.3f);
PolygonShape shape = new PolygonShape(box, 0);
Body ground = BodyFactory.CreateBody(World);
ground.Position = new Vector2(1.0f, 6.0f);
ground.CreateFixture(shape);
}
Body b2;
{
Vertices box = PolygonUtils.CreateRectangle(0.25f, 1.5f);
PolygonShape shape = new PolygonShape(box, 0);
b2 = BodyFactory.CreateBody(World);
b2.Position = new Vector2(-7.0f, 4.0f);
b2.CreateFixture(shape);
}
Body b3;
{
Vertices box = PolygonUtils.CreateRectangle(6.0f, 0.125f);
PolygonShape shape = new PolygonShape(box, 10);
b3 = BodyFactory.CreateBody(World);
b3.BodyType = BodyType.Dynamic;
b3.Position = new Vector2(-0.9f, 1.0f);
b3.Rotation = -0.15f;
b3.CreateFixture(shape);
}
Vector2 anchor = new Vector2(-2.0f, 1.0f);
RevoluteJoint jd = new RevoluteJoint(b1, b3, anchor, true);
jd.CollideConnected = true;
World.AddJoint(jd);
Body b4;
{
Vertices box = PolygonUtils.CreateRectangle(0.25f, 0.25f);
PolygonShape shape = new PolygonShape(box, 10);
b4 = BodyFactory.CreateBody(World);
b4.BodyType = BodyType.Dynamic;
b4.Position = new Vector2(-10.0f, 15.0f);
b4.CreateFixture(shape);
}
anchor = new Vector2(-7.0f, 15.0f);
RevoluteJoint jd2 = new RevoluteJoint(b2, b4, anchor, true);
World.AddJoint(jd2);
Body b5;
{
b5 = BodyFactory.CreateBody(World);
b5.BodyType = BodyType.Dynamic;
b5.Position = new Vector2(6.5f, 3.0f);
Vertices vertices = PolygonUtils.CreateRectangle(1.0f, 0.1f, new Vector2(0.0f, -0.9f), 0.0f);
PolygonShape shape = new PolygonShape(vertices, 10);
Fixture fix = b5.CreateFixture(shape);
fix.Friction = 0.1f;
vertices = PolygonUtils.CreateRectangle(0.1f, 1.0f, new Vector2(-0.9f, 0.0f), 0.0f);
shape.Vertices = vertices;
fix = b5.CreateFixture(shape);
fix.Friction = 0.1f;
vertices = PolygonUtils.CreateRectangle(0.1f, 1.0f, new Vector2(0.9f, 0.0f), 0.0f);
shape.Vertices = vertices;
fix = b5.CreateFixture(shape);
fix.Friction = 0.1f;
}
anchor = new Vector2(6.0f, 2.0f);
RevoluteJoint jd3 = new RevoluteJoint(b1, b5, anchor, true);
World.AddJoint(jd3);
Body b6;
{
Vertices box = PolygonUtils.CreateRectangle(1.0f, 0.1f);
PolygonShape shape = new PolygonShape(box, 30);
b6 = BodyFactory.CreateBody(World);
b6.BodyType = BodyType.Dynamic;
b6.Position = new Vector2(6.5f, 4.1f);
b6.CreateFixture(shape);
}
anchor = new Vector2(7.50f, 4.0f);
RevoluteJoint jd4 = new RevoluteJoint(b5, b6, anchor, true);
jd4.CollideConnected = true;
World.AddJoint(jd4);
Body b7;
{
Vertices box = PolygonUtils.CreateRectangle(0.1f, 1.0f);
PolygonShape shape = new PolygonShape(box, 10);
b7 = BodyFactory.CreateBody(World);
b7.BodyType = BodyType.Dynamic;
b7.Position = new Vector2(7.4f, 1.0f);
b7.CreateFixture(shape);
}
DistanceJoint djd = new DistanceJoint(b3, b7, new Vector2(6.0f, 0.0f), new Vector2(0.0f, -1.0f));
World.AddJoint(djd);
{
const float radius = 0.2f;
CircleShape shape = new CircleShape(radius, 10);
for (int i = 0; i < 4; ++i)
{
Body body = BodyFactory.CreateBody(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(5.9f + 2.0f * radius * i, 2.4f);
Fixture fix = body.CreateFixture(shape);
fix.OnCollision += BallCollision;
}
}
}
private VaryingFrictionTest()
{
//Ground
BodyFactory.CreateEdge(World, new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
{
Vertices box = PolygonTools.CreateRectangle(13.0f, 0.25f);
PolygonShape shape = new PolygonShape(box, 0);
Body ground = BodyFactory.CreateBody(World);
ground.Position = new Vector2(-4.0f, 22.0f);
ground.Rotation = -0.25f;
ground.CreateFixture(shape);
}
{
Vertices box = PolygonTools.CreateRectangle(0.25f, 1.0f);
PolygonShape shape = new PolygonShape(box, 0);
Body ground = BodyFactory.CreateBody(World);
ground.Position = new Vector2(10.5f, 19.0f);
ground.CreateFixture(shape);
}
{
Vertices box = PolygonTools.CreateRectangle(13.0f, 0.25f);
PolygonShape shape = new PolygonShape(box, 0);
Body ground = BodyFactory.CreateBody(World);
ground.Position = new Vector2(4.0f, 14.0f);
ground.Rotation = 0.25f;
ground.CreateFixture(shape);
}
{
Vertices box = PolygonTools.CreateRectangle(0.25f, 1.0f);
PolygonShape shape = new PolygonShape(box, 0);
Body ground = BodyFactory.CreateBody(World);
ground.Position = new Vector2(-10.5f, 11.0f);
ground.CreateFixture(shape);
}
{
Vertices box = PolygonTools.CreateRectangle(13f, 0.25f);
PolygonShape shape = new PolygonShape(box, 0);
Body ground = BodyFactory.CreateBody(World);
ground.Position = new Vector2(-4.0f, 6.0f);
ground.Rotation = -0.25f;
ground.CreateFixture(shape);
}
{
Vertices box = PolygonTools.CreateRectangle(0.5f, 0.5f);
PolygonShape shape = new PolygonShape(box, 25);
float[] friction = new[] { 0.75f, 0.5f, 0.35f, 0.1f, 0.0f };
for (int i = 0; i < 5; ++i)
{
Body body = BodyFactory.CreateBody(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(-15.0f + 4.0f * i, 28.0f);
Fixture fixture = body.CreateFixture(shape);
fixture.Friction = friction[i];
}
}
}
/// <summary>
/// This makes the explosive explode
/// </summary>
/// <param name="pos">
/// The position where the explosion happens
/// </param>
/// <param name="radius">
/// The explosion radius
/// </param>
/// <param name="maxForce">
/// The explosion force at the explosion point
/// (then is inversely proportional to the square of the distance)
/// </param>
/// <returns>
/// A dictionnary containing all the "exploded" fixtures
/// with a list of the applied impulses
/// </returns>
public Dictionary <Fixture, List <Vector2> > Activate(Vector2 pos, float radius, float maxForce)
{
_exploded.Clear();
AABB aabb;
aabb.LowerBound = pos + new Vector2(-radius, -radius);
aabb.UpperBound = pos + new Vector2(radius, radius);
Fixture[] shapes = new Fixture[MaxShapes];
// More than 5 shapes in an explosion could be possible, but still strange.
Fixture[] containedShapes = new Fixture[5];
bool exit = false;
int shapeCount = 0;
int containedShapeCount = 0;
// Query the world for overlapping shapes.
World.QueryAABB(
fixture =>
{
if (fixture.TestPoint(ref pos))
{
if (IgnoreWhenInsideShape)
{
exit = true;
}
else
{
containedShapes[containedShapeCount++] = fixture;
}
}
else
{
if (shapeCount < MaxShapes)
{
shapes[shapeCount++] = fixture;
}
}
// Continue the query.
return(true);
}, ref aabb);
if (exit)
{
return(_exploded);
}
// Per shape max/min angles for now.
float[] vals = new float[shapeCount * 2];
int valIndex = 0;
for (int i = 0; i < shapeCount; ++i)
{
PolygonShape ps;
CircleShape cs = shapes[i].Shape as CircleShape;
if (cs != null)
{
// We create a "diamond" approximation of the circle
Vertices v = new Vertices();
Vector2 vec = Vector2.Zero + new Vector2(cs.Radius, 0);
v.Add(vec);
vec = Vector2.Zero + new Vector2(0, cs.Radius);
v.Add(vec);
vec = Vector2.Zero + new Vector2(-cs.Radius, cs.Radius);
v.Add(vec);
vec = Vector2.Zero + new Vector2(0, -cs.Radius);
v.Add(vec);
ps = new PolygonShape(v, 0);
}
else
{
ps = shapes[i].Shape as PolygonShape;
}
if ((shapes[i].Body.BodyType == BodyType.Dynamic) && ps != null)
{
Vector2 toCentroid = shapes[i].Body.GetWorldPoint(ps.MassData.Centroid) - pos;
float angleToCentroid = (float)Math.Atan2(toCentroid.Y, toCentroid.X);
float min = float.MaxValue;
float max = float.MinValue;
float minAbsolute = 0.0f;
float maxAbsolute = 0.0f;
for (int j = 0; j < (ps.Vertices.Count()); ++j)
{
Vector2 toVertex = (shapes[i].Body.GetWorldPoint(ps.Vertices[j]) - pos);
float newAngle = (float)Math.Atan2(toVertex.Y, toVertex.X);
float diff = (newAngle - angleToCentroid);
diff = (diff - MathHelper.Pi) % (2 * MathHelper.Pi);
// the minus pi is important. It means cutoff for going other direction is at 180 deg where it needs to be
if (diff < 0.0f)
{
diff += 2 * MathHelper.Pi; // correction for not handling negs
}
diff -= MathHelper.Pi;
if (Math.Abs(diff) > MathHelper.Pi)
{
throw new ArgumentException("OMG!");
}
// Something's wrong, point not in shape but exists angle diff > 180
if (diff > max)
{
max = diff;
maxAbsolute = newAngle;
}
if (diff < min)
{
min = diff;
minAbsolute = newAngle;
}
}
vals[valIndex] = minAbsolute;
++valIndex;
vals[valIndex] = maxAbsolute;
++valIndex;
}
}
Array.Sort(vals, 0, valIndex, _rdc);
_data.Clear();
bool rayMissed = true;
for (int i = 0; i < valIndex; ++i)
{
Fixture shape = null;
float midpt;
int iplus = (i == valIndex - 1 ? 0 : i + 1);
if (vals[i] == vals[iplus])
{
continue;
}
if (i == valIndex - 1)
{
// the single edgecase
midpt = (vals[0] + MathHelper.Pi * 2 + vals[i]);
}
else
{
midpt = (vals[i + 1] + vals[i]);
}
midpt = midpt / 2;
Vector2 p1 = pos;
Vector2 p2 = radius * new Vector2((float)Math.Cos(midpt),
(float)Math.Sin(midpt)) + pos;
// RaycastOne
bool hitClosest = false;
World.RayCast((f, p, n, fr) =>
{
Body body = f.Body;
if (!IsActiveOn(body))
{
return(0);
}
//if (body.UserData != null)
//{
// int index = (int)body.UserData;
// if (index == 0)
// {
// // filter
// return -1.0f;
// }
//}
hitClosest = true;
shape = f;
return(fr);
}, p1, p2);
//draws radius points
if ((hitClosest) && (shape.Body.BodyType == BodyType.Dynamic))
{
if ((_data.Count() > 0) && (_data.Last().Body == shape.Body) && (!rayMissed))
{
int laPos = _data.Count - 1;
ShapeData la = _data[laPos];
la.Max = vals[iplus];
_data[laPos] = la;
}
else
{
// make new
ShapeData d;
d.Body = shape.Body;
d.Min = vals[i];
d.Max = vals[iplus];
_data.Add(d);
}
if ((_data.Count() > 1) &&
(i == valIndex - 1) &&
(_data.Last().Body == _data.First().Body) &&
(_data.Last().Max == _data.First().Min))
{
ShapeData fi = _data[0];
fi.Min = _data.Last().Min;
_data.RemoveAt(_data.Count() - 1);
_data[0] = fi;
while (_data.First().Min >= _data.First().Max)
{
fi.Min -= MathHelper.Pi * 2;
_data[0] = fi;
}
}
int lastPos = _data.Count - 1;
ShapeData last = _data[lastPos];
while ((_data.Count() > 0) &&
(_data.Last().Min >= _data.Last().Max)) // just making sure min<max
{
last.Min = _data.Last().Min - 2 * MathHelper.Pi;
_data[lastPos] = last;
}
rayMissed = false;
}
else
{
rayMissed = true; // raycast did not find a shape
}
}
for (int i = 0; i < _data.Count(); ++i)
{
if (!IsActiveOn(_data[i].Body))
{
continue;
}
float arclen = _data[i].Max - _data[i].Min;
float first = MathHelper.Min(MaxEdgeOffset, EdgeRatio * arclen);
int insertedRays = (int)Math.Ceiling(((arclen - 2.0f * first) - (MinRays - 1) * MaxAngle) / MaxAngle);
if (insertedRays < 0)
{
insertedRays = 0;
}
float offset = (arclen - first * 2.0f) / ((float)MinRays + insertedRays - 1);
//Note: This loop can go into infinite as it operates on floats.
//Added FloatEquals with a large epsilon.
for (float j = _data[i].Min + first;
j < _data[i].Max || MathUtils.FloatEquals(j, _data[i].Max, 0.0001f);
j += offset)
{
Vector2 p1 = pos;
Vector2 p2 = pos + radius * new Vector2((float)Math.Cos(j), (float)Math.Sin(j));
Vector2 hitpoint = Vector2.Zero;
float minlambda = float.MaxValue;
List <Fixture> fl = _data[i].Body.FixtureList;
for (int x = 0; x < fl.Count; x++)
{
Fixture f = fl[x];
RayCastInput ri;
ri.Point1 = p1;
ri.Point2 = p2;
ri.MaxFraction = 50f;
RayCastOutput ro;
if (f.RayCast(out ro, ref ri, 0))
{
if (minlambda > ro.Fraction)
{
minlambda = ro.Fraction;
hitpoint = ro.Fraction * p2 + (1 - ro.Fraction) * p1;
}
}
// the force that is to be applied for this particular ray.
// offset is angular coverage. lambda*length of segment is distance.
float impulse = (arclen / (MinRays + insertedRays)) * maxForce * 180.0f / MathHelper.Pi *
(1.0f - Math.Min(1.0f, minlambda));
// We Apply the impulse!!!
Vector2 vectImp = Vector2.Dot(impulse * new Vector2((float)Math.Cos(j),
(float)Math.Sin(j)), -ro.Normal) *
new Vector2((float)Math.Cos(j),
(float)Math.Sin(j));
_data[i].Body.ApplyLinearImpulse(ref vectImp, ref hitpoint);
// We gather the fixtures for returning them
Vector2 val = Vector2.Zero;
List <Vector2> vectorList;
if (_exploded.TryGetValue(f, out vectorList))
{
val.X += Math.Abs(vectImp.X);
val.Y += Math.Abs(vectImp.Y);
vectorList.Add(val);
}
else
{
vectorList = new List <Vector2>();
val.X = Math.Abs(vectImp.X);
val.Y = Math.Abs(vectImp.Y);
vectorList.Add(val);
_exploded.Add(f, vectorList);
}
if (minlambda > 1.0f)
{
hitpoint = p2;
}
}
}
}
// We check contained shapes
for (int i = 0; i < containedShapeCount; ++i)
{
Fixture fix = containedShapes[i];
if (!IsActiveOn(fix.Body))
{
continue;
}
float impulse = MinRays * maxForce * 180.0f / MathHelper.Pi;
Vector2 hitPoint;
CircleShape circShape = fix.Shape as CircleShape;
if (circShape != null)
{
hitPoint = fix.Body.GetWorldPoint(circShape.Position);
}
else
{
PolygonShape shape = fix.Shape as PolygonShape;
hitPoint = fix.Body.GetWorldPoint(shape.MassData.Centroid);
}
Vector2 vectImp = impulse * (hitPoint - pos);
List <Vector2> vectorList = new List <Vector2>();
vectorList.Add(vectImp);
fix.Body.ApplyLinearImpulse(ref vectImp, ref hitPoint);
if (!_exploded.ContainsKey(fix))
{
_exploded.Add(fix, vectorList);
}
}
return(_exploded);
}
CantileverTest()
{
Body ground = BodyFactory.CreateEdge(World, new Vector2(-40, 0), new Vector2(40, 0));
{
PolygonShape shape = new PolygonShape(20);
shape.Vertices = PolygonTools.CreateRectangle(0.5f, 0.125f);
Body prevBody = ground;
for (int i = 0; i < Count; ++i)
{
Body body = BodyFactory.CreateBody(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(-14.5f + 1.0f * i, 5.0f);
body.CreateFixture(shape);
Vector2 anchor = new Vector2(-15.0f + 1.0f * i, 5.0f);
WeldJoint jd = new WeldJoint(prevBody, body, anchor, anchor, true);
World.AddJoint(jd);
prevBody = body;
}
}
{
PolygonShape shape = new PolygonShape(20f);
shape.Vertices = PolygonTools.CreateRectangle(1f, 0.125f);
Body prevBody = ground;
for (int i = 0; i < 3; ++i)
{
Body body = BodyFactory.CreateBody(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(-14.0f + 2.0f * i, 15.0f);
body.CreateFixture(shape);
Vector2 anchor = new Vector2(-15.0f + 2.0f * i, 15.0f);
WeldJoint jd = new WeldJoint(prevBody, body, anchor, anchor, true);
jd.FrequencyHz = 5.0f;
jd.DampingRatio = 0.7f;
World.AddJoint(jd);
prevBody = body;
}
}
{
PolygonShape shape = new PolygonShape(20f);
shape.Vertices = PolygonTools.CreateRectangle(0.5f, 0.125f);
Body prevBody = ground;
for (int i = 0; i < Count; ++i)
{
Body body = BodyFactory.CreateBody(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(-4.5f + 1.0f * i, 5.0f);
body.CreateFixture(shape);
if (i > 0)
{
Vector2 anchor = new Vector2(-5.0f + 1.0f * i, 5.0f);
WeldJoint jd = new WeldJoint(prevBody, body, anchor, anchor, true);
World.AddJoint(jd);
}
prevBody = body;
}
}
{
PolygonShape shape = new PolygonShape(20f);
shape.Vertices = PolygonTools.CreateRectangle(0.5f, 0.125f);
Body prevBody = ground;
for (int i = 0; i < Count; ++i)
{
Body body = BodyFactory.CreateBody(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(5.5f + 1.0f * i, 10.0f);
body.CreateFixture(shape);
if (i > 0)
{
Vector2 anchor = new Vector2(5.0f + 1.0f * i, 10.0f);
WeldJoint jd = new WeldJoint(prevBody, body, anchor, anchor, true);
jd.FrequencyHz = 8.0f;
jd.DampingRatio = 0.7f;
World.AddJoint(jd);
}
prevBody = body;
}
}
//Triangels
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));
for (int i = 0; i < 2; ++i)
{
PolygonShape shape = new PolygonShape(vertices, 1);
Body body = BodyFactory.CreateBody(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(-8.0f + 8.0f * i, 12.0f);
body.CreateFixture(shape);
}
//Circles
for (int i = 0; i < 2; ++i)
{
CircleShape shape = new CircleShape(0.5f, 1);
Body body = BodyFactory.CreateBody(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(-6.0f + 6.0f * i, 10.0f);
body.CreateFixture(shape);
}
}
private ApplyForceTest()
{
World.Gravity = Vector2.Zero;
const float restitution = 0.4f;
Body ground;
{
ground = World.CreateBody();
ground.Position = new Vector2(0.0f, 20.0f);
EdgeShape shape = new EdgeShape(new Vector2(-20.0f, -20.0f), new Vector2(-20.0f, 20.0f));
// Left vertical
Fixture fixture = ground.CreateFixture(shape);
fixture.Restitution = restitution;
// Right vertical
shape = new EdgeShape(new Vector2(20.0f, -20.0f), new Vector2(20.0f, 20.0f));
ground.CreateFixture(shape);
// Top horizontal
shape = new EdgeShape(new Vector2(-20.0f, 20.0f), new Vector2(20.0f, 20.0f));
ground.CreateFixture(shape);
// Bottom horizontal
shape = new EdgeShape(new Vector2(-20.0f, -20.0f), new Vector2(20.0f, -20.0f));
ground.CreateFixture(shape);
}
{
Transform xf1 = new Transform(new Vector2(1.0f, 0.0f), Complex.One);
Transform.Multiply(ref xf1, Complex.FromAngle(0.3524f * MathHelper.Pi), out xf1);
Vertices vertices = new Vertices(3);
vertices.Add(Transform.Multiply(new Vector2(-1.0f, 0.0f), ref xf1));
vertices.Add(Transform.Multiply(new Vector2(1.0f, 0.0f), ref xf1));
vertices.Add(Transform.Multiply(new Vector2(0.0f, 0.5f), ref xf1));
PolygonShape poly1 = new PolygonShape(vertices, 4);
Transform xf2 = new Transform(new Vector2(-1.0f, 0.0f), Complex.One);
Transform.Multiply(ref xf2, Complex.FromAngle(-0.3524f * MathHelper.Pi), out xf2);
vertices[0] = Transform.Multiply(new Vector2(-1.0f, 0.0f), ref xf2);
vertices[1] = Transform.Multiply(new Vector2(1.0f, 0.0f), ref xf2);
vertices[2] = Transform.Multiply(new Vector2(0.0f, 0.5f), ref xf2);
PolygonShape poly2 = new PolygonShape(vertices, 2);
_body = World.CreateBody();
_body.BodyType = BodyType.Dynamic;
_body.Position = new Vector2(0.0f, 2.0f);
_body.Rotation = MathHelper.Pi;
_body.AngularDamping = 5.0f;
_body.LinearDamping = 0.8f;
_body.SleepingAllowed = true;
_body.CreateFixture(poly1);
_body.CreateFixture(poly2);
}
{
Vertices box = PolygonTools.CreateRectangle(0.5f, 0.5f);
PolygonShape shape = new PolygonShape(box, 1);
for (int i = 0; i < 10; ++i)
{
Body body = World.CreateBody();
body.Position = new Vector2(0.0f, 5.0f + 1.54f * i);
body.BodyType = BodyType.Dynamic;
Fixture fixture = body.CreateFixture(shape);
fixture.Friction = 0.3f;
const float gravity = 10.0f;
float I = body.Inertia;
float mass = body.Mass;
// For a circle: I = 0.5 * m * r * r ==> r = sqrt(2 * I / m)
float radius = (float)Math.Sqrt(2.0 * (I / mass));
FrictionJoint jd = new FrictionJoint(ground, body, Vector2.Zero);
jd.CollideConnected = true;
jd.MaxForce = mass * gravity;
jd.MaxTorque = mass * radius * gravity;
World.Add(jd);
}
}
}
public BodyTypes()
{
Body ground;
{
var bd = new BodyDef();
ground = World.CreateBody(bd);
var shape = new EdgeShape();
shape.SetTwoSided(new Vector2(-20.0f, 0.0f), new Vector2(20.0f, 0.0f));
var fd = new FixtureDef();
fd.Shape = shape;
ground.CreateFixture(fd);
}
// Define attachment
{
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position.Set(0.0f, 3.0f);
_attachment = World.CreateBody(bd);
var shape = new PolygonShape();
shape.SetAsBox(0.5f, 2.0f);
_attachment.CreateFixture(shape, 2.0f);
}
// Define platform
{
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position.Set(-4.0f, 5.0f);
_platform = World.CreateBody(bd);
var shape = new PolygonShape();
shape.SetAsBox(0.5f, 4.0f, new Vector2(4.0f, 0.0f), 0.5f * Settings.Pi);
var fd = new FixtureDef();
fd.Shape = shape;
fd.Friction = 0.6f;
fd.Density = 2.0f;
_platform.CreateFixture(fd);
var rjd = new RevoluteJointDef();
rjd.Initialize(_attachment, _platform, new Vector2(0.0f, 5.0f));
rjd.MaxMotorTorque = 50.0f;
rjd.EnableMotor = true;
World.CreateJoint(rjd);
var 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;
World.CreateJoint(pjd);
_speed = 3.0f;
}
// Create a payload
{
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position.Set(0.0f, 8.0f);
var body = World.CreateBody(bd);
var shape = new PolygonShape();
shape.SetAsBox(0.75f, 0.75f);
var fd = new FixtureDef();
fd.Shape = shape;
fd.Friction = 0.6f;
fd.Density = 2.0f;
body.CreateFixture(fd);
}
}
/// <summary>
/// Call this to draw shapes and other debug draw data.
/// </summary>
private void DrawDebugData()
{
if ((Flags & DebugViewFlags.Shape) == DebugViewFlags.Shape)
{
foreach (Body b in World.BodyList.ToList <Body>())
{
Transform xf;
b.GetTransform(out xf);
foreach (Fixture f in b.FixtureList)
{
if (b.Enabled == false)
{
DrawShape(f, xf, InactiveShapeColor);
}
else if (b.BodyType == BodyType.Static)
{
DrawShape(f, xf, StaticShapeColor);
}
else if (b.BodyType == BodyType.Kinematic)
{
DrawShape(f, xf, KinematicShapeColor);
}
else if (b.Awake == false)
{
DrawShape(f, xf, SleepingShapeColor);
}
else
{
DrawShape(f, xf, DefaultShapeColor);
}
}
}
}
if ((Flags & DebugViewFlags.ContactPoints) == DebugViewFlags.ContactPoints)
{
const float axisScale = 0.3f;
for (int i = 0; i < _pointCount; ++i)
{
ContactPoint point = _points[i];
if (point.State == PointState.Add)
{
// Add
DrawPoint(point.Position, 0.1f, new Color(0.3f, 0.95f, 0.3f));
}
else if (point.State == PointState.Persist)
{
// Persist
DrawPoint(point.Position, 0.1f, new Color(0.3f, 0.3f, 0.95f));
}
if ((Flags & DebugViewFlags.ContactNormals) == DebugViewFlags.ContactNormals)
{
Vector2 p1 = point.Position;
Vector2 p2 = p1 + axisScale * point.Normal;
DrawSegment(p1, p2, new Color(0.4f, 0.9f, 0.4f));
}
}
_pointCount = 0;
}
if ((Flags & DebugViewFlags.PolygonPoints) == DebugViewFlags.PolygonPoints)
{
foreach (Body body in World.BodyList)
{
foreach (Fixture f in body.FixtureList)
{
PolygonShape polygon = f.Shape as PolygonShape;
if (polygon != null)
{
Transform xf;
body.GetTransform(out xf);
for (int i = 0; i < polygon.Vertices.Count; i++)
{
Vector2 tmp = MathUtils.Mul(ref xf, polygon.Vertices[i]);
DrawPoint(tmp, 0.1f, Color.Red);
}
}
}
}
}
if ((Flags & DebugViewFlags.Joint) == DebugViewFlags.Joint)
{
foreach (Joint j in World.JointList)
{
DrawJoint(j);
}
}
if ((Flags & DebugViewFlags.AABB) == DebugViewFlags.AABB)
{
Color color = new Color(0.9f, 0.3f, 0.9f);
IBroadPhase bp = World.ContactManager.BroadPhase;
foreach (Body b in World.BodyList)
{
if (b.Enabled == false)
{
continue;
}
foreach (Fixture f in b.FixtureList)
{
for (int t = 0; t < f.ProxyCount; ++t)
{
FixtureProxy proxy = f.Proxies[t];
AABB aabb;
bp.GetFatAABB(proxy.ProxyId, out aabb);
DrawAABB(ref aabb, color);
}
}
}
}
if ((Flags & DebugViewFlags.CenterOfMass) == DebugViewFlags.CenterOfMass)
{
foreach (Body b in World.BodyList)
{
Transform xf;
b.GetTransform(out xf);
xf.p = b.WorldCenter;
DrawTransform(ref xf);
}
}
if ((Flags & DebugViewFlags.Controllers) == DebugViewFlags.Controllers)
{
for (int i = 0; i < World.ControllerList.Count; i++)
{
Controller controller = World.ControllerList[i];
BuoyancyController buoyancy = controller as BuoyancyController;
if (buoyancy != null)
{
AABB container = buoyancy.Container;
DrawAABB(ref container, Color.LightBlue);
}
}
}
if ((Flags & DebugViewFlags.DebugPanel) == DebugViewFlags.DebugPanel)
{
DrawDebugPanel();
}
}
private EdgeTest()
{
{
Body ground = BodyFactory.CreateBody(World);
Vector2 v1 = new Vector2(-10.0f, 0.0f);
Vector2 v2 = new Vector2(-7.0f, -2.0f);
Vector2 v3 = new Vector2(-4.0f, 0.0f);
Vector2 v4 = Vector2.Zero;
Vector2 v5 = new Vector2(4.0f, 0.0f);
Vector2 v6 = new Vector2(7.0f, 2.0f);
Vector2 v7 = new Vector2(10.0f, 0.0f);
EdgeShape shape = new EdgeShape(v1, v2);
shape.HasVertex3 = true;
shape.Vertex3 = v3;
ground.CreateFixture(shape);
shape.Set(v2, v3);
shape.HasVertex0 = true;
shape.HasVertex3 = true;
shape.Vertex0 = v1;
shape.Vertex3 = v4;
ground.CreateFixture(shape);
shape.Set(v3, v4);
shape.HasVertex0 = true;
shape.HasVertex3 = true;
shape.Vertex0 = v2;
shape.Vertex3 = v5;
ground.CreateFixture(shape);
shape.Set(v4, v5);
shape.HasVertex0 = true;
shape.HasVertex3 = true;
shape.Vertex0 = v3;
shape.Vertex3 = v6;
ground.CreateFixture(shape);
shape.Set(v5, v6);
shape.HasVertex0 = true;
shape.HasVertex3 = true;
shape.Vertex0 = v4;
shape.Vertex3 = v7;
ground.CreateFixture(shape);
shape.Set(v6, v7);
shape.HasVertex0 = true;
shape.Vertex0 = v5;
ground.CreateFixture(shape);
}
{
Body body = BodyFactory.CreateBody(World, new Vector2(-0.5f, 0.6f));
body.BodyType = BodyType.Dynamic;
body.SleepingAllowed = false;
CircleShape shape = new CircleShape(0.5f, 1);
_circleFixture = body.CreateFixture(shape);
}
{
Body body = BodyFactory.CreateBody(World, new Vector2(1.0f, 0.6f));
body.BodyType = BodyType.Dynamic;
body.SleepingAllowed = false;
PolygonShape shape = new PolygonShape(1);
shape.SetAsBox(0.5f, 0.5f);
body.CreateFixture(shape);
}
}
private TheoJansenTest()
{
_offset = new Vector2(0.0f, 8.0f);
_motorSpeed = 2.0f;
_motorOn = true;
Vector2 pivot = new Vector2(0.0f, 0.8f);
// Ground
{
Body ground = BodyFactory.CreateEdge(World, new Vector2(-50.0f, 0.0f), new Vector2(50.0f, 0.0f));
FixtureFactory.AttachEdge(new Vector2(-50.0f, 0.0f), new Vector2(-50.0f, 10.0f), ground);
FixtureFactory.AttachEdge(new Vector2(50.0f, 0.0f), new Vector2(50.0f, 10.0f), ground);
}
// Balls
for (int i = 0; i < 40; ++i)
{
CircleShape shape = new CircleShape(0.25f, 1);
Body body = BodyFactory.CreateBody(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(-40.0f + 2.0f * i, 0.5f);
body.CreateFixture(shape);
}
// Chassis
{
PolygonShape shape = new PolygonShape(1);
shape.Vertices = PolygonUtils.CreateRectangle(2.5f, 1.0f);
_chassis = BodyFactory.CreateBody(World);
_chassis.BodyType = BodyType.Dynamic;
_chassis.Position = pivot + _offset;
Fixture fixture = _chassis.CreateFixture(shape);
fixture.CollisionGroup = -1;
}
{
CircleShape shape = new CircleShape(1.6f, 1);
_wheel = BodyFactory.CreateBody(World);
_wheel.BodyType = BodyType.Dynamic;
_wheel.Position = pivot + _offset;
Fixture fixture = _wheel.CreateFixture(shape);
fixture.CollisionGroup = -1;
}
{
_motorJoint = new RevoluteJoint(_wheel, _chassis, _chassis.Position, true);
_motorJoint.CollideConnected = false;
_motorJoint.MotorSpeed = _motorSpeed;
_motorJoint.MaxMotorTorque = 400.0f;
_motorJoint.MotorEnabled = _motorOn;
World.AddJoint(_motorJoint);
}
Vector2 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 Dominos()
{
Body b1;
{
EdgeShape shape = new EdgeShape();
shape.Set(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
shape.Density = 0;
BodyDef bd = new BodyDef();
b1 = m_world.CreateBody(bd);
b1.CreateFixture(shape);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(6.0f, 0.25f);
BodyDef bd = new BodyDef();
bd.Position.Set(-1.5f, 10.0f);
Body ground = m_world.CreateBody(bd);
shape.Density = 0;
ground.CreateFixture(shape);
}
{
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._dynamicBody;
bd.Position.Set(-6.0f + 1.0f * i, 11.25f);
Body body = m_world.CreateBody(bd);
body.CreateFixture(fd);
}
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(7.0f, 0.25f, new Vec2(0, 0), 0.3f);
shape.Density = 0;
BodyDef bd = new BodyDef();
bd.Position.Set(1.0f, 6.0f);
Body ground = m_world.CreateBody(bd);
ground.CreateFixture(shape);
}
Body b2;
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.25f, 1.5f);
shape.Density = 0;
BodyDef bd = new BodyDef();
bd.Position.Set(-7.0f, 4.0f);
b2 = m_world.CreateBody(bd);
b2.CreateFixture(shape);
}
Body b3;
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(6.0f, 0.125f);
shape.Density = 10;
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(-0.9f, 1.0f);
bd.angle = -0.15f;
b3 = m_world.CreateBody(bd);
b3.CreateFixture(shape);
}
RevoluteJointDef jd = new RevoluteJointDef();
Vec2 anchor = new Vec2();
anchor.Set(-2.0f, 1.0f);
jd.Initialize(b1, b3, anchor);
jd.collideConnected = true;
m_world.CreateJoint(jd);
Body b4;
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.25f, 0.25f);
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(-10.0f, 15.0f);
b4 = m_world.CreateBody(bd);
shape.Density = 10;
shape.Density = 10;
b4.CreateFixture(shape);
}
anchor.Set(-7.0f, 15.0f);
jd.Initialize(b2, b4, anchor);
m_world.CreateJoint(jd);
Body b5;
{
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(6.5f, 3.0f);
b5 = m_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 Vec2(0.0f, -0.9f), 0.0f);
b5.CreateFixture(fd);
shape.SetAsBox(0.1f, 1.0f, new Vec2(-0.9f, 0.0f), 0.0f);
b5.CreateFixture(fd);
shape.SetAsBox(0.1f, 1.0f, new Vec2(0.9f, 0.0f), 0.0f);
b5.CreateFixture(fd);
}
anchor.Set(6.0f, 2.0f);
jd.Initialize(b1, b5, anchor);
m_world.CreateJoint(jd);
Body b6;
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(1.0f, 0.1f);
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(6.5f, 4.1f);
b6 = m_world.CreateBody(bd);
shape.Density = 30;
b6.CreateFixture(shape);
}
anchor.Set(7.5f, 4.0f);
jd.Initialize(b5, b6, anchor);
m_world.CreateJoint(jd);
Body b7;
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.1f, 1.0f);
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(7.4f, 1.0f);
b7 = m_world.CreateBody(bd);
shape.Density = 10;
b7.CreateFixture(shape);
}
DistanceJointDef djd = new DistanceJointDef();
djd.bodyA = b3;
djd.bodyB = b7;
djd.localAnchorA.Set(6.0f, 0.0f);
djd.localAnchorB.Set(0.0f, -1.0f);
Vec2 d = djd.bodyB.GetWorldPoint(djd.localAnchorB) - djd.bodyA.GetWorldPoint(djd.localAnchorA);
djd.length = d.Length();
m_world.CreateJoint(djd);
{
float radius = 0.2f;
CircleShape shape = new CircleShape();
shape.m_radius = radius;
for (int i = 0; i < 4; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(5.9f + 2.0f * radius * i, 2.4f);
Body body = m_world.CreateBody(bd);
shape.Density = 10;
body.CreateFixture(shape);
}
}
}
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);
PolygonShape poly1 = new PolygonShape(1);
PolygonShape poly2 = new PolygonShape(1);
Vertices vertices = new Vertices(3);
if (s > 0.0f)
{
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.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;
}
Body body1 = BodyFactory.CreateBody(World);
body1.BodyType = BodyType.Dynamic;
body1.Position = _offset;
body1.AngularDamping = 10.0f;
Body body2 = BodyFactory.CreateBody(World);
body2.BodyType = BodyType.Dynamic;
body2.Position = p4 + _offset;
body2.AngularDamping = 10.0f;
Fixture f1 = body1.CreateFixture(poly1);
f1.CollisionGroup = -1;
Fixture f2 = body2.CreateFixture(poly2);
f2.CollisionGroup = -1;
// 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;
DistanceJoint djd = new DistanceJoint(body1, body2, p2 + _offset, p5 + _offset, true);
JointHelper.LinearStiffness(frequencyHz, dampingRatio, djd.BodyA, djd.BodyB, out var stiffness, out var damping);
djd.Damping = damping;
djd.Stiffness = stiffness;
World.AddJoint(djd);
DistanceJoint djd2 = new DistanceJoint(body1, body2, p3 + _offset, p4 + _offset, true);
djd2.Damping = damping;
djd2.Stiffness = stiffness;
World.AddJoint(djd2);
DistanceJoint djd3 = new DistanceJoint(body1, _wheel, p3 + _offset, wheelAnchor + _offset, true);
djd3.Damping = damping;
djd3.Stiffness = stiffness;
World.AddJoint(djd3);
DistanceJoint djd4 = new DistanceJoint(body2, _wheel, p6 + _offset, wheelAnchor + _offset, true);
djd4.Damping = damping;
djd4.Stiffness = stiffness;
World.AddJoint(djd4);
RevoluteJoint rjd = new RevoluteJoint(body2, _chassis, p4 + _offset, true);
World.AddJoint(rjd);
}
/// <summary>
/// Fires when a contact in the physics simulation is created.
/// Enables the feature of simple one-way platform in the game.
/// Contact of the one-way platform should be solid only when the other fixture is moving down to the one-platform.
/// Works only for gravity with the default direction (down).
/// </summary>
/// <param name="contact">Contact created in the physics simulation.</param>
/// <returns>Value of <c>true</c> keeps the contact solid.</returns>
private bool PhysicsBeginContact(Contact contact)
{
// check if one of the fixtures is the platform
// inspired by http://www.iforce2d.net/b2dtut/one-way-walls
if (contact.FixtureA.Body != null && contact.FixtureB.Body != null)
{
Fixture platformFixture = null;
Body platformBody = null, otherBody = null;
if (((Actor)contact.FixtureA.UserData).OneWayPlatform && !contact.FixtureB.IsSensor)
{
platformFixture = contact.FixtureA;
platformBody = contact.FixtureA.Body;
otherBody = contact.FixtureB.Body;
}
else if (((Actor)contact.FixtureB.UserData).OneWayPlatform && !contact.FixtureA.IsSensor)
{
platformFixture = contact.FixtureB;
platformBody = contact.FixtureB.Body;
otherBody = contact.FixtureA.Body;
}
if (platformBody != null)
{
Vector2 normal;
FixedArray2 <Vector2> points;
contact.GetWorldManifold(out normal, out points);
// check if contact points are moving downward
for (int i = 0; i < contact.Manifold.PointCount; ++i)
{
Vector2 pointVelPlatform = platformBody.GetLinearVelocityFromWorldPoint(points[i]);
Vector2 pointVelOther = otherBody.GetLinearVelocityFromWorldPoint(points[i]);
Vector2 relativeVel = platformBody.GetLocalVector(pointVelOther - pointVelPlatform);
if (platformFixture.ShapeType == FarseerPhysics.Collision.Shapes.ShapeType.Polygon)
{
PolygonShape polygon = platformFixture.Shape as PolygonShape;
Vector2 relativePoint = platformBody.GetLocalPoint(points[i]);
float platformFaceY = 0f;
// find the heighest vertex of the polygon
for (int j = 0; j < polygon.Vertices.Count; ++j)
{
if (polygon.Vertices[i].Y < platformFaceY)
{
platformFaceY = polygon.Vertices[i].Y;
}
}
// check if point is at the front of the polygon
if (relativePoint.Y < platformFaceY + 0.05f)
{
return(true);
}
}
else
{
// point is moving down, leave contact solid and exit
if (relativeVel.Y > 0)
{
return(true);
}
}
}
// no points are moving downward, contact should not be solid
contact.Enabled = false;
return(false);
}
}
return(true);
}
/// <summary>
/// Collides the edge and polygon using the specified manifold
/// </summary>
/// <param name="manifold">The manifold</param>
/// <param name="edgeA">The edge</param>
/// <param name="xfA">The xf</param>
/// <param name="polygonB">The polygon</param>
/// <param name="xfB">The xf</param>
public static void CollideEdgeAndPolygon(ref Manifold manifold, EdgeShape edgeA, ref Transform xfA,
PolygonShape polygonB, ref Transform xfB)
{
manifold.PointCount = 0;
Transform xf = MathUtils.MulT(xfA, xfB);
Vector2 centroidB = MathUtils.Mul(ref xf, polygonB.MassDataPrivate.Centroid);
Vector2 v1 = edgeA.Vertex1;
Vector2 v2 = edgeA.Vertex2;
Vector2 edge1 = v2 - v1;
edge1 = Vector2.Normalize(edge1);
// Normal points to the right for a CCW winding
Vector2 normal1 = new Vector2(edge1.Y, -edge1.X);
float offset1 = MathUtils.Dot(normal1, centroidB - v1);
bool oneSided = edgeA.OneSided;
if (oneSided && offset1 < 0.0f)
{
return;
}
// Get polygonB in frameA
TempPolygon tempPolygonB = new TempPolygon(polygonB.VerticesPrivate.Count);
for (int i = 0; i < polygonB.VerticesPrivate.Count; ++i)
{
tempPolygonB.Vertices[i] = MathUtils.Mul(ref xf, polygonB.VerticesPrivate[i]);
tempPolygonB.Normals[i] = MathUtils.Mul(xf.Q, polygonB.NormalsPrivate[i]);
}
float radius = polygonB.RadiusPrivate + edgeA.RadiusPrivate;
EpAxis edgeAxis = ComputeEdgeSeparation(ref tempPolygonB, v1, normal1);
if (edgeAxis.Separation > radius)
{
return;
}
EpAxis polygonAxis = ComputePolygonSeparation(ref tempPolygonB, v1, v2);
if (polygonAxis.Separation > radius)
{
return;
}
// Use hysteresis for jitter reduction.
const float kRelativeTol = 0.98f;
const float kAbsoluteTol = 0.001f;
EpAxis primaryAxis;
if (polygonAxis.Separation - radius > kRelativeTol * (edgeAxis.Separation - radius) + kAbsoluteTol)
{
primaryAxis = polygonAxis;
}
else
{
primaryAxis = edgeAxis;
}
if (oneSided)
{
// Smooth collision
// See https://box2d.org/posts/2020/06/ghost-collisions/
Vector2 edge0 = v1 - edgeA.Vertex0;
edge0 = Vector2.Normalize(edge0);
Vector2 normal0 = new Vector2(edge0.Y, -edge0.X);
bool convex1 = MathUtils.Cross(edge0, edge1) >= 0.0f;
Vector2 edge2 = edgeA.Vertex3 - v2;
edge2 = Vector2.Normalize(edge2);
Vector2 normal2 = new Vector2(edge2.Y, -edge2.X);
bool convex2 = MathUtils.Cross(edge1, edge2) >= 0.0f;
const float sinTol = 0.1f;
bool side1 = MathUtils.Dot(primaryAxis.Normal, edge1) <= 0.0f;
// Check Gauss Map
if (side1)
{
if (convex1)
{
if (MathUtils.Cross(primaryAxis.Normal, normal0) > sinTol)
{
// Skip region
return;
}
// Admit region
}
else
{
// Snap region
primaryAxis = edgeAxis;
}
}
else
{
if (convex2)
{
if (MathUtils.Cross(normal2, primaryAxis.Normal) > sinTol)
{
// Skip region
return;
}
// Admit region
}
else
{
// Snap region
primaryAxis = edgeAxis;
}
}
}
FixedArray2 <ClipVertex> clipPoints = new FixedArray2 <ClipVertex>();
ReferenceFace ref1;
if (primaryAxis.Type == EpAxisType.EdgeA)
{
manifold.Type = ManifoldType.FaceA;
// Search for the polygon normal that is most anti-parallel to the edge normal.
int bestIndex = 0;
float bestValue = MathUtils.Dot(primaryAxis.Normal, tempPolygonB.Normals[0]);
for (int i = 1; i < tempPolygonB.Count; ++i)
{
float value = MathUtils.Dot(primaryAxis.Normal, tempPolygonB.Normals[i]);
if (value < bestValue)
{
bestValue = value;
bestIndex = i;
}
}
int i1 = bestIndex;
int i2 = i1 + 1 < tempPolygonB.Count ? i1 + 1 : 0;
clipPoints.Value0.V = tempPolygonB.Vertices[i1];
clipPoints.Value0.Id.ContactFeature.IndexA = 0;
clipPoints.Value0.Id.ContactFeature.IndexB = (byte)i1;
clipPoints.Value0.Id.ContactFeature.TypeA = ContactFeatureType.Face;
clipPoints.Value0.Id.ContactFeature.TypeB = ContactFeatureType.Vertex;
clipPoints.Value1.V = tempPolygonB.Vertices[i2];
clipPoints.Value1.Id.ContactFeature.IndexA = 0;
clipPoints.Value1.Id.ContactFeature.IndexB = (byte)i2;
clipPoints.Value1.Id.ContactFeature.TypeA = ContactFeatureType.Face;
clipPoints.Value1.Id.ContactFeature.TypeB = ContactFeatureType.Vertex;
ref1.I1 = 0;
ref1.I2 = 1;
ref1.V1 = v1;
ref1.V2 = v2;
ref1.Normal = primaryAxis.Normal;
ref1.SideNormal1 = -edge1;
ref1.SideNormal2 = edge1;
}
else
{
manifold.Type = ManifoldType.FaceB;
clipPoints.Value0.V = v2;
clipPoints.Value0.Id.ContactFeature.IndexA = 1;
clipPoints.Value0.Id.ContactFeature.IndexB = (byte)primaryAxis.Index;
clipPoints.Value0.Id.ContactFeature.TypeA = ContactFeatureType.Vertex;
clipPoints.Value0.Id.ContactFeature.TypeB = ContactFeatureType.Face;
clipPoints.Value1.V = v1;
clipPoints.Value1.Id.ContactFeature.IndexA = 0;
clipPoints.Value1.Id.ContactFeature.IndexB = (byte)primaryAxis.Index;
clipPoints.Value1.Id.ContactFeature.TypeA = ContactFeatureType.Vertex;
clipPoints.Value1.Id.ContactFeature.TypeB = ContactFeatureType.Face;
ref1.I1 = primaryAxis.Index;
ref1.I2 = ref1.I1 + 1 < tempPolygonB.Count ? ref1.I1 + 1 : 0;
ref1.V1 = tempPolygonB.Vertices[ref1.I1];
ref1.V2 = tempPolygonB.Vertices[ref1.I2];
ref1.Normal = tempPolygonB.Normals[ref1.I1];
// CCW winding
ref1.SideNormal1 = new Vector2(ref1.Normal.Y, -ref1.Normal.X);
ref1.SideNormal2 = -ref1.SideNormal1;
}
ref1.SideOffset1 = MathUtils.Dot(ref1.SideNormal1, ref1.V1);
ref1.SideOffset2 = MathUtils.Dot(ref1.SideNormal2, ref1.V2);
// Clip incident edge against reference face side planes
FixedArray2 <ClipVertex> clipPoints1;
FixedArray2 <ClipVertex> clipPoints2;
int np;
// Clip to side 1
np = Collision.ClipSegmentToLine(out clipPoints1, ref clipPoints, ref1.SideNormal1, ref1.SideOffset1,
ref1.I1);
if (np < Settings.MaxManifoldPoints)
{
return;
}
// Clip to side 2
np = Collision.ClipSegmentToLine(out clipPoints2, ref clipPoints1, ref1.SideNormal2, ref1.SideOffset2,
ref1.I2);
if (np < Settings.MaxManifoldPoints)
{
return;
}
// Now clipPoints2 contains the clipped points.
if (primaryAxis.Type == EpAxisType.EdgeA)
{
manifold.LocalNormal = ref1.Normal;
manifold.LocalPoint = ref1.V1;
}
else
{
manifold.LocalNormal = polygonB.NormalsPrivate[ref1.I1];
manifold.LocalPoint = polygonB.VerticesPrivate[ref1.I1];
}
int pointCount = 0;
for (int i = 0; i < Settings.MaxManifoldPoints; ++i)
{
float separation = MathUtils.Dot(ref1.Normal, clipPoints2[i].V - ref1.V1);
if (separation <= radius)
{
ManifoldPoint cp = manifold.Points[pointCount];
if (primaryAxis.Type == EpAxisType.EdgeA)
{
cp.LocalPoint = MathUtils.MulT(xf, clipPoints2[i].V);
cp.Id = clipPoints2[i].Id;
}
else
{
cp.LocalPoint = clipPoints2[i].V;
cp.Id.ContactFeature.TypeA = clipPoints2[i].Id.ContactFeature.TypeB;
cp.Id.ContactFeature.TypeB = clipPoints2[i].Id.ContactFeature.TypeA;
cp.Id.ContactFeature.IndexA = clipPoints2[i].Id.ContactFeature.IndexB;
cp.Id.ContactFeature.IndexB = clipPoints2[i].Id.ContactFeature.IndexA;
}
manifold.Points[pointCount] = cp;
++pointCount;
}
}
manifold.PointCount = pointCount;
}
private CollisionProcessingTest()
{
//Ground
World.CreateEdge(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
const float xLo = -5.0f;
const float xHi = 5.0f;
const float yLo = 2.0f;
const float yHi = 35.0f;
// Small triangle
Vertices vertices = new Vertices(3);
vertices.Add(new Vector2(-1.0f, 0.0f));
vertices.Add(new Vector2(1.0f, 0.0f));
vertices.Add(new Vector2(0.0f, 2.0f));
PolygonShape polygon = new PolygonShape(vertices, 1);
Body body1 = World.CreateBody();
body1.BodyType = BodyType.Dynamic;
body1.Position = new Vector2(Rand.RandomFloat(xLo, xHi), Rand.RandomFloat(yLo, yHi));
Fixture fixture = body1.CreateFixture(polygon);
fixture.OnBeginContact += OnCollision;
// Large triangle (recycle definitions)
vertices[0] *= 2.0f;
vertices[1] *= 2.0f;
vertices[2] *= 2.0f;
polygon.Vertices = vertices;
Body body2 = World.CreateBody();
body2.BodyType = BodyType.Dynamic;
body2.Position = new Vector2(Rand.RandomFloat(xLo, xHi), Rand.RandomFloat(yLo, yHi));
fixture = body2.CreateFixture(polygon);
fixture.OnBeginContact += OnCollision;
// Small box
Vertices smallBox = PolygonTools.CreateRectangle(1.0f, 0.5f);
polygon.Vertices = smallBox;
Body body3 = World.CreateBody();
body3.BodyType = BodyType.Dynamic;
body3.Position = new Vector2(Rand.RandomFloat(xLo, xHi), Rand.RandomFloat(yLo, yHi));
fixture = body3.CreateFixture(polygon);
fixture.OnBeginContact += OnCollision;
// Large box (recycle definitions)
Vertices largeBox = PolygonTools.CreateRectangle(2.0f, 1.0f);
polygon.Vertices = largeBox;
Body body4 = World.CreateBody();
body4.BodyType = BodyType.Dynamic;
body4.Position = new Vector2(Rand.RandomFloat(xLo, xHi), Rand.RandomFloat(yLo, yHi));
fixture = body4.CreateFixture(polygon);
fixture.OnBeginContact += OnCollision;
// Small circle
CircleShape circle = new CircleShape(1.0f, 1);
Body body5 = World.CreateBody();
body5.BodyType = BodyType.Dynamic;
body5.Position = new Vector2(Rand.RandomFloat(xLo, xHi), Rand.RandomFloat(yLo, yHi));
fixture = body5.CreateFixture(circle);
fixture.OnBeginContact += OnCollision;
// Large circle
circle.Radius *= 2.0f;
Body body6 = World.CreateBody();
body6.BodyType = BodyType.Dynamic;
body6.Position = new Vector2(Rand.RandomFloat(xLo, xHi), Rand.RandomFloat(yLo, yHi));
fixture = body6.CreateFixture(circle);
fixture.OnBeginContact += OnCollision;
}
public override void CreateBody(World world, float width, float height)
{
_collisionWidth = width;
_collisionHeight = height;
var carPosition = Position2.ToMeters();
_body = new Body(world)
{
BodyType = BodyType.Dynamic, Position = carPosition, AngularDamping = 5
};
var halfWidth = width / 2;
var halfHeight = height / 2;
var frontWheelOffset = (float)CarInfo.FrontWheelOffset / 64;
var rearWheelOffset = (float)CarInfo.RearWheelOffset / 64;
//collision detection Fixture
var vertices = new Vertices(4);
vertices.Add(new Vector2(-halfWidth, -halfHeight)); //Top-Left
vertices.Add(new Vector2(halfWidth, -halfHeight)); //Top-Right
vertices.Add(new Vector2(halfWidth, halfHeight)); //Bottom-Right
vertices.Add(new Vector2(-halfWidth, halfHeight)); //Bottom-Left
_shape = new PolygonShape(vertices.ToMeters(), 0.1f);
var fixture = _body.CreateFixture(_shape); //shape, density
fixture.OnCollision += OnCollision;
//SpriteId Fixture
//var spriteHalfWidth = (float) CarInfo.Sprite.Rectangle.CollisionWidth/2; //ToDo
//var spriteHalfHeight = (float) CarInfo.Sprite.Rectangle.CollisionHeight/2;
var spriteHalfWidth = (float)52 / 64 / 2;
var spriteHalfHeight = (float)128 / 64 / 2;
var spriteVertices = new Vertices(4);
spriteVertices.Add(new Vector2(-spriteHalfWidth, -spriteHalfHeight)); //Top-Left
spriteVertices.Add(new Vector2(spriteHalfWidth, -spriteHalfHeight)); //Top-Right
spriteVertices.Add(new Vector2(spriteHalfWidth, spriteHalfHeight)); //Bottom-Right
spriteVertices.Add(new Vector2(-spriteHalfWidth, spriteHalfHeight)); //Bottom-Left
_spriteShape = new PolygonShape(spriteVertices.ToMeters(), 0.1f);
var spriteFixture = _body.CreateFixture(_spriteShape);
spriteFixture.IsSensor = true;
float maxForwardSpeed = 300;
float maxBackwardSpeed = -40;
float backWheelMaxDriveForce = 950;
float frontWheelMaxDriveForce = 400;
float backWheelMaxLateralImpulse = 9;
float fronWheelMaxLateralImpulse = 9;
//back left wheel
var wheelOffsetPosition = new Vector2(halfWidth, rearWheelOffset).ToMeters();
var wheel = new Wheel(world);
wheel.SetCharacteristics(maxForwardSpeed, maxBackwardSpeed, backWheelMaxDriveForce, backWheelMaxLateralImpulse);
_wheels[0] = wheel;
_backLeftJoint = CreateJoint(_body, wheel.Body, wheelOffsetPosition, world);
//back right wheel
wheelOffsetPosition = new Vector2(-halfWidth, rearWheelOffset).ToMeters();
wheel = new Wheel(world);
wheel.SetCharacteristics(maxForwardSpeed, maxBackwardSpeed, backWheelMaxDriveForce, backWheelMaxLateralImpulse);
_wheels[1] = wheel;
_backRightJoint = CreateJoint(_body, wheel.Body, wheelOffsetPosition, world);
//front left wheel
wheelOffsetPosition = new Vector2(halfWidth, frontWheelOffset).ToMeters();
wheel = new Wheel(world);
wheel.SetCharacteristics(maxForwardSpeed, maxBackwardSpeed, frontWheelMaxDriveForce, fronWheelMaxLateralImpulse);
_wheels[2] = wheel;
_frontLeftJoint = CreateJoint(_body, wheel.Body, wheelOffsetPosition, world);
//front right wheel
wheelOffsetPosition = new Vector2(-halfWidth, frontWheelOffset).ToMeters();
wheel = new Wheel(world);
wheel.SetCharacteristics(maxForwardSpeed, maxBackwardSpeed, frontWheelMaxDriveForce, fronWheelMaxLateralImpulse);
_wheels[3] = wheel;
_frontRightJoint = CreateJoint(_body, wheel.Body, wheelOffsetPosition, world);
}
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 RopeJointTest()
{
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 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);
}
}
