public LineJoint()
{
Body ground = null;
{
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
BodyDef bd = new BodyDef();
ground = _world.CreateBody(bd);
ground.CreateFixture(shape, 0.0f);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.5f, 2.0f);
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(0.0f, 7.0f);
Body body = _world.CreateBody(bd);
body.CreateFixture(shape, 1.0f);
LineJointDef jd = new LineJointDef();
Vector2 axis = new Vector2(2.0f, 1.0f);
axis.Normalize();
jd.Initialize(ground, body, new Vector2(0.0f, 8.5f), axis);
jd.motorSpeed = 0.0f;
jd.maxMotorForce = 100.0f;
jd.enableMotor = true;
jd.lowerTranslation = -4.0f;
jd.upperTranslation = 4.0f;
jd.enableLimit = true;
_world.CreateJoint(jd);
}
}
public Breakable()
{
// Ground body
{
BodyDef bd = new BodyDef();
Body ground = _world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
// Breakable dynamic body
{
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(0.0f, 40.0f);
bd.angle = 0.25f * Settings.b2_pi;
_body1 = _world.CreateBody(bd);
_shape1 = new PolygonShape();
_shape1.SetAsBox(0.5f, 0.5f, new Vector2(-0.5f, 0.0f), 0.0f);
_piece1 = _body1.CreateFixture(_shape1, 1.0f);
_shape2 = new PolygonShape();
_shape2.SetAsBox(0.5f, 0.5f, new Vector2(0.5f, 0.0f), 0.0f);
_piece2 = _body1.CreateFixture(_shape2, 1.0f);
}
_break = false;
_broke = false;
}
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 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);
}
}
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 PrismaticJointTestBase()
{
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);
}
EnableLimit = true;
EnableMotor = false;
MotorSpeed = 10.0f;
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(1.0f, 1.0f);
BodyDef bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position.Set(0.0f, 10.0f);
bd.Angle = 0.5f * Settings.Pi;
bd.AllowSleep = false;
var body = World.CreateBody(bd);
body.CreateFixture(shape, 5.0f);
PrismaticJointDef pjd = new PrismaticJointDef();
// Horizontal
pjd.Initialize(ground, body, bd.Position, new Vector2(1.0f, 0.0f));
pjd.MotorSpeed = MotorSpeed;
pjd.MaxMotorForce = 10000.0f;
pjd.EnableMotor = EnableMotor;
pjd.LowerTranslation = -10.0f;
pjd.UpperTranslation = 10.0f;
pjd.EnableLimit = EnableLimit;
Joint = (PrismaticJoint)World.CreateJoint(pjd);
}
}
private PrismaticJointTest()
{
Body ground;
{
BodyDef bd = new BodyDef();
ground = BodyFactory.CreateFromDef(World, bd);
EdgeShape shape = new EdgeShape();
shape.SetTwoSided(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
ground.AddFixture(shape);
}
_enableLimit = true;
_enableMotor = false;
_motorSpeed = 10.0f;
{
PolygonShape shape = new PolygonShape(5.0f);
shape.SetAsBox(1.0f, 1.0f);
BodyDef bd = new BodyDef();
bd.Type = BodyType.Dynamic;
bd.Position = new Vector2(0.0f, 10.0f);
bd.Angle = 0.5f * MathConstants.Pi;
bd.AllowSleep = false;
Body body = BodyFactory.CreateFromDef(World, bd);
body.AddFixture(shape);
PrismaticJointDef pjd = new PrismaticJointDef();
// Horizontal
pjd.Initialize(ground, body, bd.Position, new Vector2(1.0f, 0.0f));
pjd.MotorSpeed = _motorSpeed;
pjd.MaxMotorForce = 10000.0f;
pjd.EnableMotor = _enableMotor;
pjd.LowerTranslation = -10.0f;
pjd.UpperTranslation = 10.0f;
pjd.EnableLimit = _enableLimit;
_joint = (PrismaticJoint)JointFactory.CreateFromDef(World, pjd);
}
}
public BulletTest()
{
{
BodyDef bd = new BodyDef();
bd.Position.Set(0.0f, 0.0f);
Body body = m_world.CreateBody(bd);
EdgeShape edge = new EdgeShape();
edge.Set(new Vec2(-10.0f, 0.0f), new Vec2(10.0f, 0.0f));
edge.Density = 0;
body.CreateFixture(edge);
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.2f, 1.0f, new Vec2(0.5f, 1.0f), 0.0f);
shape.Density = 0;
body.CreateFixture(shape);
}
{
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(0.0f, 4.0f);
PolygonShape box = new PolygonShape();
box.SetAsBox(2.0f, 0.1f);
box.Density = 100;
m_body = m_world.CreateBody(bd);
m_body.CreateFixture(box);
box.SetAsBox(0.25f, 0.25f);
//m_x = RandomFloat(-1.0f, 1.0f);
m_x = 0.20352793f;
bd.Position.Set(m_x, 10.0f);
bd.bullet = true;
m_bullet = m_world.CreateBody(bd);
m_bullet.CreateFixture(box);
m_bullet.SetLinearVelocity(new Vec2(0.0f, -50.0f));
}
}
/// <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 MotorJointTest()
{
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = m_world.CreateBody(bd);
EdgeShape shape = new EdgeShape();
shape.Set(new Vec2(-20.0f, 0.0f), new Vec2(20.0f, 0.0f));
FixtureDef fd = new FixtureDef();
fd.shape = shape;
ground.CreateFixture(fd);
}
// Define motorized body
{
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(0.0f, 8.0f);
Body body = m_world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsBox(2.0f, 0.5f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.friction = 0.6f;
fd.Density = 2.0f;
body.CreateFixture(fd);
MotorJointDef mjd = new MotorJointDef();
mjd.Initialize(ground, body);
mjd.maxForce = 1000.0f;
mjd.maxTorque = 1000.0f;
m_joint = (MotorJoint)m_world.CreateJoint(mjd);
}
m_go = false;
m_time = 0.0f;
}
public void Step()
{
World.Step(1 / 60f, 8, 3);
if (_count < Count)
{
var bd = new BodyDef
{
BodyType = BodyType.DynamicBody,
Position = new Vector2(0.0f, 10.0f)
};
var body = World.CreateBody(bd);
var shape = new PolygonShape();
shape.SetAsBox(0.125f, 0.125f);
body.CreateFixture(shape, 1.0f);
++_count;
}
}
public Body CreateBoxCollider(Body2dComponent component, float x, float y, float hx, float hy)
{
var bd = new BodyDef
{
BodyType = BodyType.DynamicBody,
Position = new Vector2(x, y)
};
var body = World.CreateBody(bd);
body.IsBullet = false;
var shape = new PolygonShape();
shape.SetAsBox(hx, hy, Vector2.Zero, 0);
body.CreateFixture(shape, 1.0f);
body.UserData = component;
bodyComponents.Add(body, component);
return(body);
}
public DoorButton(Rectangle r, Map m)
: base(m)
{
Body BodyDec = new Body(m.PhysicalWorld);
BodyDec.BodyType = BodyType.Static;
PolygonShape S = new PolygonShape(1f);
S.SetAsBox(r.Width / 2, r.Height / 2);
Fixture = BodyDec.CreateFixture(S);
Fixture.Restitution = 1f;
Fixture.Friction = 10f;
Position = r;
SetName("DoorButton");
}
private Body AddNode(Body parent, Vector2 localAnchor, int depth, float offset, float a)
{
var density = 20.0f;
var h = new Vector2(0.0f, a);
var p = parent.GetPosition() + localAnchor - h;
var bodyDef = new BodyDef();
bodyDef.BodyType = BodyType.DynamicBody;
bodyDef.Position = p;
var body = World.CreateBody(bodyDef);
var shape = new PolygonShape();
shape.SetAsBox(0.25f * a, a);
body.CreateFixture(shape, density);
if (depth == Depth)
{
return(body);
}
var a1 = new Vector2(offset, -a);
var a2 = new Vector2(-offset, -a);
var body1 = AddNode(body, a1, depth + 1, 0.5f * offset, a);
var body2 = AddNode(body, a2, depth + 1, 0.5f * offset, a);
var jointDef = new RevoluteJointDef();
jointDef.BodyA = body;
jointDef.LocalAnchorB = h;
jointDef.LocalAnchorA = a1;
jointDef.BodyB = body1;
World.CreateJoint(jointDef);
jointDef.LocalAnchorA = a2;
jointDef.BodyB = body2;
World.CreateJoint(jointDef);
return(body);
}
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);
}
}
private Body AddNode(Body parent, Vector2 localAnchor, int depth, float offset, float a)
{
float density = 20.0f;
Vector2 h = new Vector2(0.0f, a);
Vector2 p = parent.Position + localAnchor - h;
BodyDef bodyDef = new BodyDef();
bodyDef.Type = BodyType.Dynamic;
bodyDef.Position = p;
Body body = BodyFactory.CreateFromDef(World, bodyDef);
PolygonShape shape = new PolygonShape(density);
shape.SetAsBox(0.25f * a, a);
body.AddFixture(shape);
if (depth == _depth)
{
return(body);
}
Vector2 a1 = new Vector2(offset, -a);
Vector2 a2 = new Vector2(-offset, -a);
Body body1 = AddNode(body, a1, depth + 1, 0.5f * offset, a);
Body body2 = AddNode(body, a2, depth + 1, 0.5f * offset, a);
RevoluteJointDef jointDef = new RevoluteJointDef();
jointDef.BodyA = body;
jointDef.LocalAnchorB = h;
jointDef.LocalAnchorA = a1;
jointDef.BodyB = body1;
JointFactory.CreateFromDef(World, jointDef);
jointDef.LocalAnchorA = a2;
jointDef.BodyB = body2;
JointFactory.CreateFromDef(World, jointDef);
return(body);
}
private PlatformerTest()
{
// Ground
{
BodyDef bd = new BodyDef();
Body ground = BodyFactory.CreateFromDef(World, bd);
EdgeShape shape = new EdgeShape();
shape.SetTwoSided(new Vector2(-20.0f, 0.0f), new Vector2(20.0f, 0.0f));
ground.AddFixture(shape);
}
// Platform
{
BodyDef bd = new BodyDef();
bd.Position = new Vector2(0.0f, 10.0f);
Body body = BodyFactory.CreateFromDef(World, bd);
PolygonShape shape = new PolygonShape(0.0f);
shape.SetAsBox(3.0f, 0.5f);
_platform = body.AddFixture(shape);
_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 = BodyFactory.CreateFromDef(World, bd);
_radius = 0.5f;
CircleShape shape = new CircleShape(20.0f);
shape.Radius = _radius;
_character = body.AddFixture(shape);
body.LinearVelocity = new Vector2(0.0f, -50.0f);
_state = State.e_unknown;
}
}
public Body AddNode(Body parent, Vec2 localAnchor, int depth, float offset, float a)
{
Vec2 h = new Vec2(0.0f, a);
Vec2 p = parent.GetPosition() + localAnchor - h;
BodyDef bodyDef = new BodyDef();
bodyDef.type = BodyType._dynamicBody;
bodyDef.Position = p;
Body body = m_world.CreateBody(bodyDef);
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.25f * a, a);
shape.Density = 20;
body.CreateFixture(shape);
if (depth == e_depth)
{
return(body);
}
Vec2 a1 = new Vec2(offset, -a);
Vec2 a2 = new Vec2(-offset, -a);
Body body1 = AddNode(body, a1, depth + 1, 0.5f * offset, a);
Body body2 = AddNode(body, a2, depth + 1, 0.5f * offset, a);
RevoluteJointDef jointDef = new RevoluteJointDef();
jointDef.bodyA = body;
jointDef.localAnchorB = h;
jointDef.localAnchorA = a1;
jointDef.bodyB = body1;
m_world.CreateJoint(jointDef);
jointDef.localAnchorA = a2;
jointDef.bodyB = body2;
m_world.CreateJoint(jointDef);
return(body);
}
public Prismatic()
{
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = _world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vector2(-40.0, 0.0), new Vector2(40.0, 0.0));
ground.CreateFixture(shape, 0.0);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(2.0, 0.5);
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(-10.0, 10.0);
bd.angle = 0.5 * Alt.Box2D.Settings.b2_pi;
Body body = _world.CreateBody(bd);
body.CreateFixture(shape, 5.0);
PrismaticJointDef pjd = new PrismaticJointDef();
// Bouncy limit
Vector2 axis = new Vector2(2, 1);
axis.Normalize();
pjd.Initialize(ground, body, new Vector2(0.0, 0.0), axis);
// Non-bouncy limit
//pjd.Initialize(ground, body, new Vector2(-10.0, 10.0), new Vector2(1.0, 0.0));
pjd.motorSpeed = 10.0;
pjd.maxMotorForce = 1000.0;
pjd.enableMotor = true;
pjd.lowerTranslation = 0.0;
pjd.upperTranslation = 20.0;
pjd.enableLimit = true;
_joint = (PrismaticJoint)_world.CreateJoint(pjd);
}
}
public Chain()
{
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = m_world.CreateBody(bd);
EdgeShape shape = new EdgeShape();
shape.Set(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
shape.Density = 0;
ground.CreateFixture(shape);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.6f, 0.125f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.Density = 20.0f;
fd.friction = 0.2f;
RevoluteJointDef jd = new RevoluteJointDef();
jd.collideConnected = false;
const float y = 25.0f;
Body prevBody = ground;
for (int i = 0; i < 30; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(0.5f + i, y);
Body body = m_world.CreateBody(bd);
body.CreateFixture(fd);
Vec2 anchor = new Vec2((float)(i), y);
jd.Initialize(prevBody, body, anchor);
m_world.CreateJoint(jd);
prevBody = body;
}
}
}
public 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 MotorJoint()
{
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 motorized body
{
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(2.0f, 0.5f);
var fd = new FixtureDef();
fd.Shape = shape;
fd.Friction = 0.6f;
fd.Density = 2.0f;
body.CreateFixture(fd);
var mjd = new MotorJointDef();
mjd.Initialize(ground, body);
mjd.MaxForce = 1000.0f;
mjd.MaxTorque = 1000.0f;
_joint = (Box2DSharp.Dynamics.Joints.MotorJoint)World.CreateJoint(mjd);
}
_go = false;
_time = 0.0f;
}
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, 1.0f);
body.SetLinearVelocity(new Vector2(0.0f, -50.0f));
_state = State.e_unknown;
}
}
public Chain()
{
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = _world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vector2(-40.0, 0.0), new Vector2(40.0, 0.0));
ground.CreateFixture(shape, 0.0);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.6, 0.125);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 20.0;
fd.friction = 0.2;
RevoluteJointDef jd = new RevoluteJointDef();
jd.collideConnected = false;
double y = 25.0;
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((double)i, y);
jd.Initialize(prevBody, body, anchor);
_world.CreateJoint(jd);
prevBody = body;
}
}
}
public Pyramid()
{
{
BodyDef bd = new BodyDef();
Body ground = m_world.CreateBody(bd);
EdgeShape shape = new EdgeShape();
shape.Set(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
shape.Density = 0;
ground.CreateFixture(shape);
}
{
float a = 0.5f;
PolygonShape shape = new PolygonShape();
shape.SetAsBox(a, a);
shape.Density = 5;
Vec2 x = new Vec2(-7.0f, 0.75f);
Vec2 y;
Vec2 deltaX = new Vec2(0.5625f, 1.25f);
Vec2 deltaY = new Vec2(1.125f, 0.0f);
for (int i = 0; i < e_count; ++i)
{
y = x;
for (int j = i; j < e_count; ++j)
{
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position = y;
Body body = m_world.CreateBody(bd);
body.CreateFixture(shape);
y += deltaY;
}
x += deltaX;
}
}
}
Pulleys()
{
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = _world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vector2(-40.0, 0.0), new Vector2(40.0, 0.0));
ground.CreateFixture(shape, 0.0);
}
{
double a = 2.0;
double b = 4.0;
double y = 16.0;
double L = 12.0;
PolygonShape shape = new PolygonShape();
shape.SetAsBox(a, b);
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(-10.0, y);
Body body1 = _world.CreateBody(bd);
body1.CreateFixture(shape, 5.0);
bd.position = new Vector2(10.0, y);
Body body2 = _world.CreateBody(bd);
body2.CreateFixture(shape, 5.0);
PulleyJointDef pulleyDef = new PulleyJointDef();
Vector2 anchor1 = new Vector2(-10.0, y + b);
Vector2 anchor2 = new Vector2(10.0, y + b);
Vector2 groundAnchor1 = new Vector2(-10.0, y + b + L);
Vector2 groundAnchor2 = new Vector2(10.0, y + b + L);
pulleyDef.Initialize(body1, body2, groundAnchor1, groundAnchor2, anchor1, anchor2, 2.0f);
_joint1 = (PulleyJoint)_world.CreateJoint(pulleyDef);
}
}
public Chain()
{
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = _world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.6f, 0.125f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 20.0f;
fd.friction = 0.2f;
RevoluteJointDef jd = new RevoluteJointDef();
jd.collideConnected = false;
float y = 25.0f;
Body prevBody = ground;
for (int i = 0; i < 30; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(0.5f + i, y);
Body body = _world.CreateBody(bd);
body.CreateFixture(fd);
Vector2 anchor = new Vector2((float)i, y);
jd.Initialize(prevBody, body, anchor);
_world.CreateJoint(jd);
prevBody = body;
}
}
}
public ConveyorBelt()
{
// Ground
{
BodyDef bd = new BodyDef();
Body ground = m_world.CreateBody(bd);
EdgeShape shape = new EdgeShape();
shape.Set(new Vec2(-20.0f, 0.0f), new Vec2(20.0f, 0.0f));
shape.Density = 0;
ground.CreateFixture(shape);
}
// Platform
{
BodyDef bd = new BodyDef();
bd.Position.Set(-5.0f, 5.0f);
Body body = m_world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsBox(10.0f, 0.5f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.friction = 0.8f;
m_platform = body.CreateFixture(fd);
}
// Boxes
for (int i = 0; i < 5; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(-10.0f + 2.0f * i, 7.0f);
Body body = m_world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.5f, 0.5f);
shape.Density = 20;
body.CreateFixture(shape);
}
}
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);
}
}
private MotorJointTest()
{
Body ground;
{
BodyDef bd = new BodyDef();
ground = BodyFactory.CreateFromDef(World, bd);
EdgeShape shape = new EdgeShape();
shape.SetTwoSided(new Vector2(-20.0f, 0.0f), new Vector2(20.0f, 0.0f));
FixtureDef fd = new FixtureDef();
fd.Shape = shape;
ground.AddFixture(fd);
}
// Define motorized body
{
BodyDef bd = new BodyDef();
bd.Type = BodyType.Dynamic;
bd.Position = new Vector2(0.0f, 8.0f);
Body body = BodyFactory.CreateFromDef(World, bd);
PolygonShape shape = new PolygonShape(2.0f);
shape.SetAsBox(2.0f, 0.5f);
FixtureDef fd = new FixtureDef();
fd.Shape = shape;
fd.Friction = 0.6f;
body.AddFixture(fd);
MotorJointDef mjd = new MotorJointDef();
mjd.Initialize(ground, body);
mjd.MaxForce = 1000.0f;
mjd.MaxTorque = 1000.0f;
_joint = (MotorJoint)JointFactory.CreateFromDef(World, mjd);
}
_go = false;
_time = 0.0f;
}
public Pulleys()
{
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);
}
{
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.BodyType = BodyType.Dynamic;
bd.Position = new Vec2(-10.0f, y);
Body body1 = m_world.CreateBody(bd);
body1.CreateFixture(shape, 5.0f);
bd.Position = new Vec2(10.0f, y);
Body body2 = m_world.CreateBody(bd);
body2.CreateFixture(shape, 5.0f);
PulleyJointDef pulleyDef = new PulleyJointDef();
Vec2 anchor1 = new Vec2(-10.0f, y + b);
Vec2 anchor2 = new Vec2(10.0f, y + b);
Vec2 groundAnchor1 = new Vec2(-10.0f, y + b + L);
Vec2 groundAnchor2 = new Vec2(10.0f, y + b + L);
pulleyDef.Initialize(body1, body2, groundAnchor1, groundAnchor2, anchor1, anchor2, 2.0f);
m_joint1 = (PulleyJoint)m_world.CreateJoint(pulleyDef);
}
}
public Wheel(World world)
{
//_mGroundAreas = new List<WaterArea>();
Body = new Body(world)
{
BodyType = BodyType.Dynamic, IsSensor = true, UserData = this
};
var shape = new PolygonShape(1);
shape.SetAsBox(ConvertUnits.ToMeters(0.03125f), ConvertUnits.ToMeters(0.125f));
var fixture = Body.CreateFixture(shape);
fixture.UserData = this;
Body.UserData = this;
_mCurrentTraction = 1;
_mCurrentDrag = 1;
}
private ChainTest()
{
Body ground;
{
BodyDef bd = new BodyDef();
ground = BodyFactory.CreateFromDef(World, bd);
EdgeShape shape = new EdgeShape(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
ground.AddFixture(shape);
}
{
PolygonShape shape = new PolygonShape(20.0f);
shape.SetAsBox(0.6f, 0.125f);
FixtureDef fd = new FixtureDef();
fd.Shape = shape;
fd.Friction = 0.2f;
RevoluteJointDef jd = new RevoluteJointDef();
jd.CollideConnected = false;
const float y = 25.0f;
Body prevBody = ground;
for (int i = 0; i < 30; ++i)
{
BodyDef bd = new BodyDef();
bd.Type = BodyType.Dynamic;
bd.Position = new Vector2(0.5f + i, y);
Body body = BodyFactory.CreateFromDef(World, bd);
body.AddFixture(fd);
Vector2 anchor = new Vector2(i, y);
jd.Initialize(prevBody, body, anchor);
JointFactory.CreateFromDef(World, jd);
prevBody = body;
}
}
}
protected override void Create()
{
{
var bd = new BodyDef();
bd.Position.Set(0.0f, 0.0f);
var body = World.CreateBody(bd);
var edge = new EdgeShape();
edge.Set(new Vector2(-10.0f, 0.0f), new Vector2(10.0f, 0.0f));
body.CreateFixture(edge, 0.0f);
var shape = new PolygonShape();
shape.SetAsBox(0.2f, 1.0f, new Vector2(0.5f, 1.0f), 0.0f);
body.CreateFixture(shape, 0.0f);
}
{
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position.Set(0.0f, 4.0f);
var box = new PolygonShape();
box.SetAsBox(2.0f, 0.1f);
_body = World.CreateBody(bd);
_body.CreateFixture(box, 1.0f);
box.SetAsBox(0.25f, 0.25f);
//m_x = RandomFloat(-1.0f, 1.0f);
_x = 0.20352793f;
bd.Position = new Vector2(_x, 10.0f);
bd.Bullet = true;
_bullet = World.CreateBody(bd);
_bullet.CreateFixture(box, 100.0f);
_bullet.SetLinearVelocity(new Vector2(0.0f, -50.0f));
}
}
/// <summary>
/// 创建一个矩形Body
/// </summary>
/// <param name="x">坐标 X</param>
/// <param name="y">坐标 Y</param>
/// <param name="width">矩形的宽</param>
/// <param name="height">矩形的高</param>
/// <param name="bodyType">物体类型，默认是DynamicBody</param>
/// <param name="isSensor">是否不参加物理模拟，默认否</param>
/// <returns></returns>
public Body CreateRectangleBody(float x, float y, float width, float height, BodyType bodyType = BodyType.DynamicBody, bool isSensor = false)
{
var bodyDef = CreateBodyDef(x, y, bodyType);
var body = world.CreateBody(bodyDef);
var bodyShape = new PolygonShape();
bodyShape.SetAsBox(width / 2, height / 2);
var fixtureDef = new FixtureDef
{
Shape = bodyShape,
Density = 1.0f,
Friction = 0.3f,
IsSensor = isSensor
};
body.CreateFixture(fixtureDef);
return(body);
}
public OneSidedPlatform()
{
// Ground
{
BodyDef bd = new BodyDef();
Body ground = m_world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vec2(-20.0f, 0.0f), new Vec2(20.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
// Platform
{
BodyDef bd = new BodyDef();
bd.Position = new Vec2(0.0f, 10.0f);
Body body = m_world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsBox(3.0f, 0.5f);
m_platform = body.CreateFixture(shape, 0.0f);
m_top = 10.0f + 0.5f;
}
// Actor
{
BodyDef bd = new BodyDef();
bd.BodyType = BodyType.Dynamic;
bd.Position = new Vec2(0.0f, 12.0f);
Body body = m_world.CreateBody(bd);
m_radius = 0.5f;
CircleShape shape = new CircleShape();
shape.Radius = m_radius;
m_character = body.CreateFixture(shape, 20.0f);
body.LinearVelocity = new Vec2(0.0f, -50.0f);
}
}
private void CreateBoxes()
{
if (_body1 != null)
{
World.RemoveBody(_body1);
_body1 = null;
}
if (_body2 != null)
{
World.RemoveBody(_body2);
_body2 = null;
}
{
BodyDef bd = new BodyDef();
bd.Type = BodyType.Dynamic;
bd.Position = new Vector2(8.0f, 2.6f) + _offset1;
bd.AllowSleep = false;
_body1 = BodyFactory.CreateFromDef(World, bd);
PolygonShape shape = new PolygonShape(1.0f);
shape.SetAsBox(0.5f, 1.0f);
_body1.AddFixture(shape);
}
{
BodyDef bd = new BodyDef();
bd.Type = BodyType.Dynamic;
bd.Position = new Vector2(8.0f, 2.6f) + _offset2;
bd.AllowSleep = false;
_body2 = BodyFactory.CreateFromDef(World, bd);
PolygonShape shape = new PolygonShape(1.0f);
shape.SetAsBox(0.5f, 1.0f);
_body2.AddFixture(shape);
}
}
public ConveyorBelt()
{
// Ground
{
var bd = new BodyDef();
var ground = World.CreateBody(bd);
var shape = new EdgeShape();
shape.SetTwoSided(new Vector2(-20.0f, 0.0f), new Vector2(20.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
// Platform
{
var bd = new BodyDef();
bd.Position.Set(-5.0f, 5.0f);
var body = World.CreateBody(bd);
var shape = new PolygonShape();
shape.SetAsBox(10.0f, 0.5f);
var fd = new FixtureDef();
fd.Shape = shape;
fd.Friction = 0.8f;
_platform = body.CreateFixture(fd);
}
// Boxes
for (var i = 0; i < 5; ++i)
{
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position.Set(-10.0f + 2.0f * i, 7.0f);
var body = World.CreateBody(bd);
var shape = new PolygonShape();
shape.SetAsBox(0.5f, 0.5f);
body.CreateFixture(shape, 20.0f);
}
}
public OneSidePlatform()
{
// Ground
{
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);
}
// Platform
{
var bd = new BodyDef();
bd.Position.Set(0.0f, 10.0f);
var body = World.CreateBody(bd);
var shape = new PolygonShape();
shape.SetAsBox(3.0f, 0.5f);
_platform = body.CreateFixture(shape, 0.0f);
_top = 10.0f + 0.5f;
}
// Actor
{
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position.Set(0.0f, 12.0f);
var body = World.CreateBody(bd);
_radius = 0.5f;
var shape = new CircleShape();
shape.Radius = _radius;
_character = body.CreateFixture(shape, 20.0f);
body.SetLinearVelocity(new Vector2(0.0f, -50.0f));
}
}
protected override void Create()
{
{
var bd = new BodyDef();
var ground = World.CreateBody(bd);
var shape = new EdgeShape();
shape.Set(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
{
var a = 0.5f;
var shape = new PolygonShape();
shape.SetAsBox(a, a);
var x = new Vector2(-7.0f, 0.75f);
Vector2 y;
var deltaX = new Vector2(0.5625f, 1.25f);
var deltaY = new Vector2(1.125f, 0.0f);
for (var i = 0; i < Count; ++i)
{
y = x;
for (var j = i; j < Count; ++j)
{
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position = y;
var body = World.CreateBody(bd);
body.CreateFixture(shape, 5.0f);
y += deltaY;
}
x += deltaX;
}
}
}
public Pyramid()
{
{
BodyDef bd = new BodyDef();
Body ground = _world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
{
float a = 0.5f;
PolygonShape shape = new PolygonShape();
shape.SetAsBox(a, a);
Vector2 x = new Vector2(-7.0f, 0.75f);
Vector2 y;
Vector2 deltaX = new Vector2(0.5625f, 1.25f);
Vector2 deltaY = new Vector2(1.125f, 0.0f);
for (int i = 0; i < e_count; ++i)
{
y = x;
for (int j = i; j < e_count; ++j)
{
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = y;
Body body = _world.CreateBody(bd);
body.CreateFixture(shape, 5.0f);
y += deltaY;
}
x += deltaX;
}
}
}
public ShapeEditing()
{
{
BodyDef bd = new BodyDef();
Body ground = _world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
BodyDef bodydef = new BodyDef();
bodydef.type = BodyType.Dynamic;
bodydef.position = new Vector2(0.0f, 10.0f);
_body = _world.CreateBody(bodydef);
PolygonShape shape2 = new PolygonShape();
shape2.SetAsBox(4.0f, 4.0f, new Vector2(0.0f, 0.0f), 0.0f);
_fixture1 = _body.CreateFixture(shape2, 10.0f);
_fixture2 = null;
}
public ShapeEditing()
{
{
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);
}
{
BodyDef bd = new BodyDef();
bd.BodyType = BodyType.Dynamic;
bd.Position = new Vec2(0.0f, 10.0f);
m_body = m_world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsBox(4.0f, 4.0f, new Vec2(0.0f, 0.0f), 0.0f);
m_fixture1 = m_body.CreateFixture(shape, 10.0f);
m_fixture2 = null;
}
}
public TitleState(StateStack stack, Context context)
: base(stack, context)
{
starttimer = new Clock();
starttimer.Restart();
titletext = new Text();
titletext.Scale = new Vector2f(2, 2);
titletext.DisplayedString = "PIXELTASIM";
titletext.Font = mContext.mFonts.get(FontID.Title);
titletext.centerOrigin();
titletext.Position = new Vector2f(mContext.mWindow.Size.X/2, mContext.mWindow.Size.Y / 8);
titletext.Color = Color.Black;
square = new RectangleShape(new Vector2f(UnitConverter.toPixScale(0.5f), UnitConverter.toPixScale(0.5f)));
square.centerOrigin();
square.FillColor = Color.Red;
square.OutlineColor = Color.Black;
square.OutlineThickness = 1;
b2World = new World(new Vec2(0, 10), false);
BodyDef b2Def = new BodyDef();
b2Def.BodyType = BodyType.Dynamic;
b2Def.Position = new Vec2(UnitConverter.toSimScale(mContext.mWindow.Size.X / 2), UnitConverter.toSimScale(mContext.mWindow.Size.Y / 8*3));
b2Body = b2World.CreateBody(b2Def);
PolygonShape dynamicbox = new PolygonShape();
dynamicbox.SetAsBox(UnitConverter.toSimScale(32), UnitConverter.toSimScale(32));
FixtureDef fixDef = new FixtureDef();
fixDef.Shape = dynamicbox;
fixDef.Density = 1;
fixDef.Friction = 0.3f;
b2Body.CreateFixture(fixDef);
square.Position = new Vector2f(UnitConverter.toPixScale(b2Body.Position.X), UnitConverter.toPixScale(b2Body.Position.Y));
}
public ApplyForce()
{
_world.Gravity = new Vector2(0.0f, 0.0f);
const float k_restitution = 0.4f;
Body ground;
{
BodyDef bd = new BodyDef();
bd.position = new Vector2(0.0f, 20.0f);
ground = _world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
FixtureDef sd = new FixtureDef();
sd.shape = shape;
sd.density = 0.0f;
sd.restitution = k_restitution;
// Left vertical
shape.SetAsEdge(new Vector2(-20.0f, -20.0f), new Vector2(-20.0f, 20.0f));
ground.CreateFixture(sd);
// Right vertical
shape.SetAsEdge(new Vector2(20.0f, -20.0f), new Vector2(20.0f, 20.0f));
ground.CreateFixture(sd);
// Top horizontal
shape.SetAsEdge(new Vector2(-20.0f, 20.0f), new Vector2(20.0f, 20.0f));
ground.CreateFixture(sd);
// Bottom horizontal
shape.SetAsEdge(new Vector2(-20.0f, -20.0f), new Vector2(20.0f, -20.0f));
ground.CreateFixture(sd);
}
{
Transform xf1 = new Transform();
xf1.R.Set(0.3524f * (float)Settings.b2_pi);
xf1.Position = MathUtils.Multiply(ref xf1.R, new Vector2(1.0f, 0.0f));
Vector2[] vertices = new Vector2[3];
vertices[0] = MathUtils.Multiply(ref xf1, new Vector2(-1.0f, 0.0f));
vertices[1] = MathUtils.Multiply(ref xf1, new Vector2(1.0f, 0.0f));
vertices[2] = MathUtils.Multiply(ref xf1, new Vector2(0.0f, 0.5f));
PolygonShape poly1 = new PolygonShape();
poly1.Set(vertices, 3);
FixtureDef sd1 = new FixtureDef();
sd1.shape = poly1;
sd1.density = 4.0f;
Transform xf2 = new Transform();
xf2.R.Set(-0.3524f * (float)Settings.b2_pi);
xf2.Position = MathUtils.Multiply(ref xf2.R, new Vector2(-1.0f, 0.0f));
vertices[0] = MathUtils.Multiply(ref xf2, new Vector2(-1.0f, 0.0f));
vertices[1] = MathUtils.Multiply(ref xf2, new Vector2(1.0f, 0.0f));
vertices[2] = MathUtils.Multiply(ref xf2, new Vector2(0.0f, 0.5f));
PolygonShape poly2 = new PolygonShape();
poly2.Set(vertices, 3);
FixtureDef sd2 = new FixtureDef();
sd2.shape = poly2;
sd2.density = 2.0f;
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.angularDamping = 5.0f;
bd.linearDamping = 0.1f;
bd.position = new Vector2(0.0f, 2.0f);
bd.angle = (float)Settings.b2_pi;
bd.allowSleep = false;
_body = _world.CreateBody(bd);
_body.CreateFixture(sd1);
_body.CreateFixture(sd2);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.5f, 0.5f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 1.0f;
fd.friction = 0.3f;
for (int i = 0; i < 10; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(0.0f, 5.0f + 1.54f * i);
Body body = _world.CreateBody(bd);
body.CreateFixture(fd);
float gravity = 10.0f;
float I = body.GetInertia();
float mass = body.GetMass();
// For a circle: I = 0.5 * m * r * r ==> r = sqrt(2 * I / m)
float radius = (float)Math.Sqrt(2.0 * (double)(I / mass));
FrictionJointDef jd = new FrictionJointDef();
jd.localAnchorA = Vector2.Zero;
jd.localAnchorB = Vector2.Zero;
jd.bodyA = ground;
jd.bodyB = body;
jd.collideConnected = true;
jd.maxForce = mass * gravity;
jd.maxTorque = mass * radius * gravity;
_world.CreateJoint(jd);
}
}
}
public CompoundShapes()
{
{
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(50.0f, 0.0f), new Vector2(-50.0f, 0.0f));
body.CreateFixture(shape, 0.0f);
}
{
CircleShape circle1 = new CircleShape();
circle1._radius = 0.5f;
circle1._p = new Vector2(-0.5f, 0.5f);
CircleShape circle2 = new CircleShape();
circle2._radius = 0.5f;
circle2._p = new Vector2(0.5f, 0.5f);
for (int i = 0; i < 10; ++i)
{
float x = Rand.RandomFloat(-0.1f, 0.1f);
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(x + 5.0f, 1.05f + 2.5f * i);
bd.angle = Rand.RandomFloat(-(float)Settings.b2_pi, (float)Settings.b2_pi);
Body body = _world.CreateBody(bd);
body.CreateFixture(circle1, 2.0f);
body.CreateFixture(circle2, 0.0f);
}
}
{
PolygonShape polygon1 = new PolygonShape();
polygon1.SetAsBox(0.25f, 0.5f);
PolygonShape polygon2 = new PolygonShape();
polygon2.SetAsBox(0.25f, 0.5f, new Vector2(0.0f, -0.5f), 0.5f * (float)Settings.b2_pi);
for (int i = 0; i < 10; ++i)
{
float x = Rand.RandomFloat(-0.1f, 0.1f);
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(x - 5.0f, 1.05f + 2.5f * i);
bd.angle = Rand.RandomFloat(-(float)Settings.b2_pi, (float)Settings.b2_pi);
Body body = _world.CreateBody(bd);
body.CreateFixture(polygon1, 2.0f);
body.CreateFixture(polygon2, 2.0f);
}
}
{
Transform xf1 = new Transform();
xf1.R.Set(0.3524f * (float)Settings.b2_pi);
xf1.Position = MathUtils.Multiply(ref xf1.R, new Vector2(1.0f, 0.0f));
Vector2[] vertices = new Vector2[3];
PolygonShape triangle1 = new PolygonShape();
vertices[0] = MathUtils.Multiply(ref xf1, new Vector2(-1.0f, 0.0f));
vertices[1] = MathUtils.Multiply(ref xf1, new Vector2(1.0f, 0.0f));
vertices[2] = MathUtils.Multiply(ref xf1, new Vector2(0.0f, 0.5f));
triangle1.Set(vertices, 3);
Transform xf2 = new Transform();
xf2.R.Set(-0.3524f * (float)Settings.b2_pi);
xf2.Position = MathUtils.Multiply(ref xf2.R, new Vector2(-1.0f, 0.0f));
PolygonShape triangle2 = new PolygonShape();
vertices[0] = MathUtils.Multiply(ref xf2, new Vector2(-1.0f, 0.0f));
vertices[1] = MathUtils.Multiply(ref xf2, new Vector2(1.0f, 0.0f));
vertices[2] = MathUtils.Multiply(ref xf2, new Vector2(0.0f, 0.5f));
triangle2.Set(vertices, 3);
for (int i = 0; i < 10; ++i)
{
float x = Rand.RandomFloat(-0.1f, 0.1f);
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(x, 2.05f + 2.5f * i);
bd.angle = 0.0f;
Body body = _world.CreateBody(bd);
body.CreateFixture(triangle1, 2.0f);
body.CreateFixture(triangle2, 2.0f);
}
}
{
PolygonShape bottom = new PolygonShape();
bottom.SetAsBox( 1.5f, 0.15f );
PolygonShape left = new PolygonShape();
left.SetAsBox(0.15f, 2.7f, new Vector2(-1.45f, 2.35f), 0.2f);
PolygonShape right = new PolygonShape();
right.SetAsBox(0.15f, 2.7f, new Vector2(1.45f, 2.35f), -0.2f);
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2( 0.0f, 2.0f );
Body body = _world.CreateBody(bd);
body.CreateFixture(bottom, 4.0f);
body.CreateFixture(left, 4.0f);
body.CreateFixture(right, 4.0f);
}
}
public CollisionFiltering()
{
// Ground body
{
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
FixtureDef sd = new FixtureDef();
sd.Shape = shape;
sd.Friction = 0.3f;
BodyDef bd = new BodyDef();
Body ground = m_world.CreateBody(bd);
ground.CreateFixture(sd);
}
// Small triangle
Vec2[] vertices = new Vec2[3];
vertices[0] = new Vec2(-1.0f, 0.0f);
vertices[1] = new Vec2(1.0f, 0.0f);
vertices[2] = new Vec2(0.0f, 2.0f);
PolygonShape polygon = new PolygonShape(vertices);
FixtureDef triangleShapeDef = new FixtureDef();
triangleShapeDef.Shape = polygon;
triangleShapeDef.Density = 1.0f;
triangleShapeDef.Filter = new FilterData(k_triangleCategory, k_triangleMask, k_smallGroup);
BodyDef triangleBodyDef = new BodyDef();
triangleBodyDef.BodyType = BodyType.Dynamic;
triangleBodyDef.Position = new Vec2(-5.0f, 2.0f);
Body body1 = m_world.CreateBody(triangleBodyDef);
body1.CreateFixture(triangleShapeDef);
// Large triangle (recycle definitions)
vertices[0] *= 2.0f;
vertices[1] *= 2.0f;
vertices[2] *= 2.0f;
polygon.Vertices = vertices;
triangleShapeDef.Filter = new FilterData(triangleShapeDef.Filter.CategoryBits, triangleShapeDef.Filter.MaskBits, k_largeGroup);
triangleBodyDef.Position = new Vec2(-5.0f, 6.0f);
triangleBodyDef.FixedRotation = true; // look at me!
Body body2 = m_world.CreateBody(triangleBodyDef);
body2.CreateFixture(triangleShapeDef);
{
BodyDef bd = new BodyDef();
bd.BodyType = BodyType.Dynamic;
bd.Position = new Vec2(-5.0f, 10.0f);
Body body = m_world.CreateBody(bd);
PolygonShape p = new PolygonShape();
p.SetAsBox(0.5f, 1.0f);
body.CreateFixture(p, 1.0f);
PrismaticJointDef jd = new PrismaticJointDef();
jd.BodyA = body2;
jd.BodyB = body;
jd.EnableLimit = true;
jd.LocalAnchorA = new Vec2(0.0f, 4.0f);
jd.LocalAnchorB = Vec2.Empty;
jd.LocalAxis = new Vec2(0.0f, 1.0f);
jd.LowerTranslation = -1.0f;
jd.UpperTranslation = 1.0f;
m_world.CreateJoint(jd);
}
// Small box
polygon.SetAsBox(1.0f, 0.5f);
FixtureDef boxShapeDef = new FixtureDef();
boxShapeDef.Shape = polygon;
boxShapeDef.Density = 1.0f;
boxShapeDef.Restitution = 0.1f;
boxShapeDef.Filter = new FilterData(k_boxCategory, k_boxMask, k_smallGroup);
BodyDef boxBodyDef = new BodyDef();
boxBodyDef.BodyType = BodyType.Dynamic;
boxBodyDef.Position = new Vec2(0.0f, 2.0f);
Body body3 = m_world.CreateBody(boxBodyDef);
body3.CreateFixture(boxShapeDef);
// Large box (recycle definitions)
polygon.SetAsBox(2.0f, 1.0f);
boxShapeDef.Filter = new FilterData(k_boxCategory, k_boxMask, k_largeGroup);
boxBodyDef.Position = new Vec2(0.0f, 6.0f);
Body body4 = m_world.CreateBody(boxBodyDef);
body4.CreateFixture(boxShapeDef);
// Small circle
CircleShape circle = new CircleShape();
circle.Radius = 1.0f;
FixtureDef circleShapeDef = new FixtureDef();
circleShapeDef.Shape = circle;
circleShapeDef.Density = 1.0f;
circleShapeDef.Filter = new FilterData(k_circleCategory, k_circleMask, k_smallGroup);
BodyDef circleBodyDef = new BodyDef();
circleBodyDef.BodyType = BodyType.Dynamic;
circleBodyDef.Position = new Vec2(5.0f, 2.0f);
Body body5 = m_world.CreateBody(circleBodyDef);
body5.CreateFixture(circleShapeDef);
// Large circle
circle.Radius *= 2.0f;
circleShapeDef.Filter = new FilterData(k_circleCategory, k_circleMask, k_largeGroup);
circleBodyDef.Position = new Vec2(5.0f, 6.0f);
Body body6 = m_world.CreateBody(circleBodyDef);
body6.CreateFixture(circleShapeDef);
}
public SliderCrank()
{
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);
}
{
Body prevBody = ground;
// Define crank.
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.5f, 2.0f);
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(0.0f, 7.0f);
Body body = _world.CreateBody(bd);
body.CreateFixture(shape, 2.0f);
RevoluteJointDef rjd = new RevoluteJointDef();
rjd.Initialize(prevBody, body, new Vector2(0.0f, 5.0f));
rjd.motorSpeed = 1.0f * (float)Settings.b2_pi;
rjd.maxMotorTorque = 10000.0f;
rjd.enableMotor = true;
_joint1 = (RevoluteJoint)_world.CreateJoint(rjd);
prevBody = body;
}
// Define follower.
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.5f, 4.0f);
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(0.0f, 13.0f);
Body body = _world.CreateBody(bd);
body.CreateFixture(shape, 2.0f);
RevoluteJointDef rjd3 = new RevoluteJointDef();
rjd3.Initialize(prevBody, body, new Vector2(0.0f, 9.0f));
rjd3.enableMotor = false;
_world.CreateJoint(rjd3);
prevBody = body;
}
// Define piston
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(1.5f, 1.5f);
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(0.0f, 17.0f);
Body body = _world.CreateBody(bd);
body.CreateFixture(shape, 2.0f);
RevoluteJointDef rjd2 = new RevoluteJointDef();
rjd2.Initialize(prevBody, body, new Vector2(0.0f, 17.0f));
_world.CreateJoint(rjd2);
PrismaticJointDef 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
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(1.5f, 1.5f);
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(0.0f, 23.0f);
Body body = _world.CreateBody(bd);
body.CreateFixture(shape, 2.0f);
}
}
}
TheoJansen()
{
_offset = new Vector2(0.0f, 8.0f);
_motorSpeed = 2.0f;
_motorOn = true;
Vector2 pivot = new Vector2(0.0f, 0.8f);
// Ground
{
BodyDef bd = new BodyDef();
Body ground = _world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vector2(-50.0f, 0.0f), new Vector2(50.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
shape.SetAsEdge(new Vector2(-50.0f, 0.0f), new Vector2(-50.0f, 10.0f));
ground.CreateFixture(shape, 0.0f);
shape.SetAsEdge(new Vector2(50.0f, 0.0f), new Vector2(50.0f, 10.0f));
ground.CreateFixture(shape, 0.0f);
}
// Balls
for (int i = 0; i < 40; ++i)
{
CircleShape shape = new CircleShape();
shape._radius = 0.25f;
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(-40.0f + 2.0f * i, 0.5f);
Body body = _world.CreateBody(bd);
body.CreateFixture(shape, 1.0f);
}
// Chassis
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(2.5f, 1.0f);
FixtureDef sd = new FixtureDef();
sd.density = 1.0f;
sd.shape = shape;
sd.filter.groupIndex = -1;
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = pivot + _offset;
_chassis = _world.CreateBody(bd);
_chassis.CreateFixture(sd);
}
{
CircleShape shape = new CircleShape();
shape._radius = 1.6f;
FixtureDef sd = new FixtureDef();
sd.density = 1.0f;
sd.shape = shape;
sd.filter.groupIndex = -1;
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = pivot + _offset;
_wheel = _world.CreateBody(bd);
_wheel.CreateFixture(sd);
}
{
RevoluteJointDef jd = new RevoluteJointDef();
jd.Initialize(_wheel, _chassis, pivot + _offset);
jd.collideConnected = false;
jd.motorSpeed = _motorSpeed;
jd.maxMotorTorque = 400.0f;
jd.enableMotor = _motorOn;
_motorJoint = (RevoluteJoint)_world.CreateJoint(jd);
}
Vector2 wheelAnchor;
wheelAnchor = pivot + new Vector2(0.0f, -0.8f);
CreateLeg(-1.0f, wheelAnchor);
CreateLeg(1.0f, wheelAnchor);
_wheel.SetTransform(_wheel.GetPosition(), 120.0f * (float)Settings.b2_pi / 180.0f);
CreateLeg(-1.0f, wheelAnchor);
CreateLeg(1.0f, wheelAnchor);
_wheel.SetTransform(_wheel.GetPosition(), -120.0f * (float)Settings.b2_pi / 180.0f);
CreateLeg(-1.0f, wheelAnchor);
CreateLeg(1.0f, wheelAnchor);
}
public VaryingFriction()
{
{
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);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(13.0f, 0.25f);
BodyDef bd = new BodyDef();
bd.Position = new Vec2(-4.0f, 22.0f);
bd.Angle = -0.25f;
Body ground = m_world.CreateBody(bd);
ground.CreateFixture(shape, 0.0f);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.25f, 1.0f);
BodyDef bd = new BodyDef();
bd.Position = new Vec2(10.5f, 19.0f);
Body ground = m_world.CreateBody(bd);
ground.CreateFixture(shape, 0.0f);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(13.0f, 0.25f);
BodyDef bd = new BodyDef();
bd.Position = new Vec2(4.0f, 14.0f);
bd.Angle = 0.25f;
Body ground = m_world.CreateBody(bd);
ground.CreateFixture(shape, 0.0f);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.25f, 1.0f);
BodyDef bd = new BodyDef();
bd.Position = new Vec2(-10.5f, 11.0f);
Body ground = m_world.CreateBody(bd);
ground.CreateFixture(shape, 0.0f);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(13.0f, 0.25f);
BodyDef bd = new BodyDef();
bd.Position = new Vec2(-4.0f, 6.0f);
bd.Angle = -0.25f;
Body ground = m_world.CreateBody(bd);
ground.CreateFixture(shape, 0.0f);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.5f, 0.5f);
FixtureDef fd = new FixtureDef();
fd.Shape = shape;
fd.Density = 25.0f;
float[] friction = {0.75f, 0.5f, 0.35f, 0.1f, 0.0f};
for (int i = 0; i < 5; ++i)
{
BodyDef bd = new BodyDef();
bd.BodyType = BodyType.Dynamic;
bd.Position = new Vec2(-15.0f + 4.0f * i, 28.0f);
Body body = m_world.CreateBody(bd);
fd.Friction = friction[i];
body.CreateFixture(fd);
}
}
}
public CharacterCollision()
{
// Ground body
{
BodyDef bd = new BodyDef();
Body ground = m_world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vec2(-20.0f, 0.0f), new Vec2(20.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
// Collinear edges
{
BodyDef bd = new BodyDef();
Body ground = m_world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vec2(-8.0f, 1.0f), new Vec2(-6.0f, 1.0f));
ground.CreateFixture(shape, 0.0f);
shape.SetAsEdge(new Vec2(-6.0f, 1.0f), new Vec2(-4.0f, 1.0f));
ground.CreateFixture(shape, 0.0f);
shape.SetAsEdge(new Vec2(-4.0f, 1.0f), new Vec2(-2.0f, 1.0f));
ground.CreateFixture(shape, 0.0f);
}
// Square tiles
{
BodyDef bd = new BodyDef();
Body ground = m_world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsBox(1.0f, 1.0f, new Vec2(4.0f, 3.0f), 0.0f);
ground.CreateFixture(shape, 0.0f);
shape.SetAsBox(1.0f, 1.0f, new Vec2(6.0f, 3.0f), 0.0f);
ground.CreateFixture(shape, 0.0f);
shape.SetAsBox(1.0f, 1.0f, new Vec2(8.0f, 3.0f), 0.0f);
ground.CreateFixture(shape, 0.0f);
}
// Square made from edges notice how the edges are shrunk to account
// for the polygon radius. This makes it so the square character does
// not get snagged. However, ray casts can now go through the cracks.
{
BodyDef bd = new BodyDef();
Body ground = m_world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
float d = 2.0f * Box2DSettings.b2_polygonRadius;
shape.SetAsEdge(new Vec2(-1.0f + d, 3.0f), new Vec2(1.0f - d, 3.0f));
ground.CreateFixture(shape, 0.0f);
shape.SetAsEdge(new Vec2(1.0f, 3.0f + d), new Vec2(1.0f, 5.0f - d));
ground.CreateFixture(shape, 0.0f);
shape.SetAsEdge(new Vec2(1.0f - d, 5.0f), new Vec2(-1.0f + d, 5.0f));
ground.CreateFixture(shape, 0.0f);
shape.SetAsEdge(new Vec2(-1.0f, 5.0f - d), new Vec2(-1.0f, 3.0f + d));
ground.CreateFixture(shape, 0.0f);
}
// Square character
{
BodyDef bd = new BodyDef();
bd.Position = new Vec2(-3.0f, 5.0f);
bd.BodyType = BodyType.Dynamic;
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);
}
// Hexagon character
{
BodyDef bd = new BodyDef();
bd.Position = new Vec2(-5.0f, 5.0f);
bd.BodyType = BodyType.Dynamic;
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] = new Vec2(0.5f * (float)Math.Cos(angle), 0.5f * (float)Math.Sin(angle));
angle += delta;
}
PolygonShape shape = new PolygonShape();
shape.Vertices = vertices;
FixtureDef fd = new FixtureDef();
fd.Shape = shape;
fd.Density = 20.0f;
body.CreateFixture(fd);
}
// Circle character
{
BodyDef bd = new BodyDef();
bd.Position = new Vec2(3.0f, 5.0f);
bd.BodyType = BodyType.Dynamic;
bd.FixedRotation = true;
bd.AllowSleep = false;
Body body = m_world.CreateBody(bd);
CircleShape shape = new CircleShape();
shape.Radius = 0.5f;
FixtureDef fd = new FixtureDef();
fd.Shape = shape;
fd.Density = 20.0f;
body.CreateFixture(fd);
}
}
public Dominos()
{
Body b1 = null;
{
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
BodyDef bd = new BodyDef();
b1 = _world.CreateBody(bd);
b1.CreateFixture(shape, 0.0f);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(6.0f, 0.25f);
BodyDef bd = new BodyDef();
bd.position = new Vector2(-1.5f, 10.0f);
Body ground = _world.CreateBody(bd);
ground.CreateFixture(shape, 0.0f);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.1f, 1.0f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 20.0f;
fd.friction = 0.1f;
for (int i = 0; i < 10; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(-6.0f + 1.0f * i, 11.25f);
Body body = _world.CreateBody(bd);
body.CreateFixture(fd);
}
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(7.0f, 0.25f, Vector2.Zero, 0.3f);
BodyDef bd = new BodyDef();
bd.position = new Vector2(1.0f, 6.0f);
Body ground = _world.CreateBody(bd);
ground.CreateFixture(shape, 0.0f);
}
Body b2 = null;
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.25f, 1.5f);
BodyDef bd = new BodyDef();
bd.position = new Vector2(-7.0f, 4.0f);
b2 = _world.CreateBody(bd);
b2.CreateFixture(shape, 0.0f);
}
Body b3 = null;
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(6.0f, 0.125f);
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(-0.9f, 1.0f);
bd.angle = -0.15f;
b3 = _world.CreateBody(bd);
b3.CreateFixture(shape, 10.0f);
}
RevoluteJointDef jd = new RevoluteJointDef();
Vector2 anchor;
anchor = new Vector2(-2.0f, 1.0f);
jd.Initialize(b1, b3, anchor);
jd.collideConnected = true;
_world.CreateJoint(jd);
Body b4 = null;
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.25f, 0.25f);
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(-10.0f, 15.0f);
b4 = _world.CreateBody(bd);
b4.CreateFixture(shape, 10.0f);
}
anchor = new Vector2(-7.0f, 15.0f);
jd.Initialize(b2, b4, anchor);
_world.CreateJoint(jd);
Body b5 = null;
{
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(6.5f, 3.0f);
b5 = _world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 10.0f;
fd.friction = 0.1f;
shape.SetAsBox(1.0f, 0.1f, new Vector2(0.0f, -0.9f), 0.0f);
b5.CreateFixture(fd);
shape.SetAsBox(0.1f, 1.0f, new Vector2(-0.9f, 0.0f), 0.0f);
b5.CreateFixture(fd);
shape.SetAsBox(0.1f, 1.0f, new Vector2(0.9f, 0.0f), 0.0f);
b5.CreateFixture(fd);
}
anchor = new Vector2(6.0f, 2.0f);
jd.Initialize(b1, b5, anchor);
_world.CreateJoint(jd);
Body b6 = null;
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(1.0f, 0.1f);
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(6.5f, 4.1f);
b6 = _world.CreateBody(bd);
b6.CreateFixture(shape, 30.0f);
}
anchor = new Vector2(7.5f, 4.0f);
jd.Initialize(b5, b6, anchor);
_world.CreateJoint(jd);
Body b7 = null;
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.1f, 1.0f);
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(7.4f, 1.0f);
b7 = _world.CreateBody(bd);
b7.CreateFixture(shape, 10.0f);
}
DistanceJointDef djd = new DistanceJointDef();
djd.bodyA = b3;
djd.bodyB = b7;
djd.localAnchorA = new Vector2(6.0f, 0.0f);
djd.localAnchorB = new Vector2(0.0f, -1.0f);
Vector2 d = djd.bodyB.GetWorldPoint(djd.localAnchorB) - djd.bodyA.GetWorldPoint(djd.localAnchorA);
djd.length = d.Length();
_world.CreateJoint(djd);
{
float radius = 0.2f;
CircleShape shape = new CircleShape();
shape._radius = radius;
for (int i = 0; i < 4; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(5.9f + 2.0f * radius * i, 2.4f);
Body body = _world.CreateBody(bd);
body.CreateFixture(shape, 10.0f);
}
}
}
public CollisionFiltering()
{
// Ground body
{
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
FixtureDef sd = new FixtureDef();
sd.shape = shape;
sd.friction = 0.3f;
BodyDef bd = new BodyDef();
Body ground = _world.CreateBody(bd);
ground.CreateFixture(sd);
}
// Small triangle
Vector2[] vertices = new Vector2[3];
vertices[0] = new Vector2(-1.0f, 0.0f);
vertices[1] = new Vector2(1.0f, 0.0f);
vertices[2] = new Vector2(0.0f, 2.0f);
PolygonShape polygon = new PolygonShape();
polygon.Set(vertices, 3);
FixtureDef triangleShapeDef = new FixtureDef();
triangleShapeDef.shape = polygon;
triangleShapeDef.density = 1.0f;
triangleShapeDef.filter.groupIndex = k_smallGroup;
triangleShapeDef.filter.categoryBits = k_triangleCategory;
triangleShapeDef.filter.maskBits = k_triangleMask;
BodyDef triangleBodyDef = new BodyDef();
triangleBodyDef.type = BodyType.Dynamic;
triangleBodyDef.position = new Vector2(-5.0f, 2.0f);
Body body1 = _world.CreateBody(triangleBodyDef);
body1.CreateFixture(triangleShapeDef);
// Large triangle (recycle definitions)
vertices[0] *= 2.0f;
vertices[1] *= 2.0f;
vertices[2] *= 2.0f;
polygon.Set(vertices, 3);
triangleShapeDef.filter.groupIndex = k_largeGroup;
triangleBodyDef.position = new Vector2(-5.0f, 6.0f);
triangleBodyDef.fixedRotation = true; // look at me!
Body body2 = _world.CreateBody(triangleBodyDef);
body2.CreateFixture(triangleShapeDef);
{
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(-5.0f, 10.0f);
Body body = _world.CreateBody(bd);
PolygonShape p = new PolygonShape();
p.SetAsBox(0.5f, 1.0f);
body.CreateFixture(p, 1.0f);
PrismaticJointDef jd = new PrismaticJointDef();
jd.bodyA = body2;
jd.bodyB = body;
jd.enableLimit = true;
jd.localAnchorA = new Vector2(0.0f, 4.0f);
jd.localAnchorB = Vector2.Zero;
jd.localAxis1 = new Vector2(0.0f, 1.0f);
jd.lowerTranslation = -1.0f;
jd.upperTranslation = 1.0f;
_world.CreateJoint(jd);
}
// Small box
polygon.SetAsBox(1.0f, 0.5f);
FixtureDef boxShapeDef = new FixtureDef();
boxShapeDef.shape = polygon;
boxShapeDef.density = 1.0f;
boxShapeDef.restitution = 0.1f;
boxShapeDef.filter.groupIndex = k_smallGroup;
boxShapeDef.filter.categoryBits = k_boxCategory;
boxShapeDef.filter.maskBits = k_boxMask;
BodyDef boxBodyDef = new BodyDef();
boxBodyDef.type = BodyType.Dynamic;
boxBodyDef.position = new Vector2(0.0f, 2.0f);
Body body3 = _world.CreateBody(boxBodyDef);
body3.CreateFixture(boxShapeDef);
// Large box (recycle definitions)
polygon.SetAsBox(2.0f, 1.0f);
boxShapeDef.filter.groupIndex = k_largeGroup;
boxBodyDef.position = new Vector2(0.0f, 6.0f);
Body body4 = _world.CreateBody(boxBodyDef);
body4.CreateFixture(boxShapeDef);
// Small circle
CircleShape circle = new CircleShape();
circle._radius = 1.0f;
FixtureDef circleShapeDef = new FixtureDef();
circleShapeDef.shape = circle;
circleShapeDef.density = 1.0f;
circleShapeDef.filter.groupIndex = k_smallGroup;
circleShapeDef.filter.categoryBits = k_circleCategory;
circleShapeDef.filter.maskBits = k_circleMask;
BodyDef circleBodyDef = new BodyDef();
circleBodyDef.type = BodyType.Dynamic;
circleBodyDef.position = new Vector2(5.0f, 2.0f);
Body body5 = _world.CreateBody(circleBodyDef);
body5.CreateFixture(circleShapeDef);
// Large circle
circle._radius *= 2.0f;
circleShapeDef.filter.groupIndex = k_largeGroup;
circleBodyDef.position = new Vector2(5.0f, 6.0f);
Body body6 = _world.CreateBody(circleBodyDef);
body6.CreateFixture(circleShapeDef);
}
public Cantilever()
{
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = _world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.5f, 0.125f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 20.0f;
WeldJointDef jd = new WeldJointDef();
Body prevBody = ground;
for (int i = 0; i < e_count; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(-14.5f + 1.0f * i, 5.0f);
Body body = _world.CreateBody(bd);
body.CreateFixture(fd);
Vector2 anchor = new Vector2(-15.0f + 1.0f * i, 5.0f);
jd.Initialize(prevBody, body, anchor);
_world.CreateJoint(jd);
prevBody = body;
}
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.5f, 0.125f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 20.0f;
WeldJointDef jd = new WeldJointDef();
Body prevBody = ground;
for (int i = 0; i < e_count; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(-14.5f + 1.0f * i, 15.0f);
bd.inertiaScale = 10.0f;
Body body = _world.CreateBody(bd);
body.CreateFixture(fd);
Vector2 anchor = new Vector2(-15.0f + 1.0f * i, 15.0f);
jd.Initialize(prevBody, body, anchor);
_world.CreateJoint(jd);
prevBody = body;
}
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.5f, 0.125f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 20.0f;
WeldJointDef jd = new WeldJointDef();
Body prevBody = ground;
for (int i = 0; i < e_count; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(-4.5f + 1.0f * i, 5.0f);
Body body = _world.CreateBody(bd);
body.CreateFixture(fd);
if (i > 0)
{
Vector2 anchor = new Vector2(-5.0f + 1.0f * i, 5.0f);
jd.Initialize(prevBody, body, anchor);
_world.CreateJoint(jd);
}
prevBody = body;
}
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.5f, 0.125f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 20.0f;
WeldJointDef jd = new WeldJointDef();
Body prevBody = ground;
for (int i = 0; i < e_count; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(5.5f + 1.0f * i, 10.0f);
bd.inertiaScale = 10.0f;
Body body = _world.CreateBody(bd);
body.CreateFixture(fd);
if (i > 0)
{
Vector2 anchor = new Vector2(5.0f + 1.0f * i, 10.0f);
jd.Initialize(prevBody, body, anchor);
_world.CreateJoint(jd);
}
prevBody = body;
}
}
for (int i = 0; i < 2; ++i)
{
Vector2[] vertices = new Vector2[3];
vertices[0] = new Vector2(-0.5f, 0.0f);
vertices[1] = new Vector2(0.5f, 0.0f);
vertices[2] = new Vector2(0.0f, 1.5f);
PolygonShape shape = new PolygonShape();
shape.Set(vertices, 3);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 1.0f;
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(-8.0f + 8.0f * i, 12.0f);
Body body = _world.CreateBody(bd);
body.CreateFixture(fd);
}
for (int i = 0; i < 2; ++i)
{
CircleShape shape = new CircleShape();
shape._radius = 0.5f;
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 1.0f;
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(-6.0f + 6.0f * i, 10.0f);
Body body = _world.CreateBody(bd);
body.CreateFixture(fd);
}
}
public ApplyForce()
{
m_world.Gravity = new Vec2(0.0f, 0.0f);
const float k_restitution = 0.4f;
Body ground;
{
BodyDef bd = new BodyDef();
bd.Position = new Vec2(0.0f, 20.0f);
ground = m_world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
FixtureDef sd = new FixtureDef();
sd.Shape = shape;
sd.Density = 0.0f;
sd.Restitution = k_restitution;
// Left vertical
shape.SetAsEdge(new Vec2(-20.0f, -20.0f), new Vec2(-20.0f, 20.0f));
ground.CreateFixture(sd);
// Right vertical
shape.SetAsEdge(new Vec2(20.0f, -20.0f), new Vec2(20.0f, 20.0f));
ground.CreateFixture(sd);
// Top horizontal
shape.SetAsEdge(new Vec2(-20.0f, 20.0f), new Vec2(20.0f, 20.0f));
ground.CreateFixture(sd);
// Bottom horizontal
shape.SetAsEdge(new Vec2(-20.0f, -20.0f), new Vec2(20.0f, -20.0f));
ground.CreateFixture(sd);
}
{
Transform xf1 = new Transform();
xf1.R = new Mat22(0.3524f * (float)Math.PI);
xf1.Position = (xf1.R * new Vec2(1.0f, 0.0f));
Vec2[] vertices = new Vec2[3]
{
(xf1 * new Vec2(-1.0f, 0.0f)),
(xf1 * new Vec2(1.0f, 0.0f)),
(xf1 * new Vec2(0.0f, 0.5f))
};
PolygonShape poly1 = new PolygonShape(vertices);
FixtureDef sd1 = new FixtureDef();
sd1.Shape = poly1;
sd1.Density = 4.0f;
Transform xf2 = new Transform();
xf2.R = new Mat22(-0.3524f * (float)Math.PI);
xf2.Position = (xf2.R * new Vec2(-1.0f, 0.0f));
vertices = new Vec2[]
{
(xf2 * new Vec2(-1.0f, 0.0f)),
(xf2 * new Vec2(1.0f, 0.0f)),
(xf2 * new Vec2(0.0f, 0.5f))
};
PolygonShape poly2 = new PolygonShape(vertices);
FixtureDef sd2 = new FixtureDef();
sd2.Shape = poly2;
sd2.Density = 2.0f;
BodyDef bd = new BodyDef();
bd.BodyType = BodyType.Dynamic;
bd.AngularDamping = 5.0f;
bd.LinearDamping = 0.1f;
bd.Position = new Vec2(0.0f, 2.0f);
bd.Angle = (float)Math.PI;
bd.AllowSleep = false;
m_body = m_world.CreateBody(bd);
m_body.CreateFixture(sd1);
m_body.CreateFixture(sd2);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.5f, 0.5f);
FixtureDef fd = new FixtureDef();
fd.Shape = shape;
fd.Density = 1.0f;
fd.Friction = 0.3f;
for (int i = 0; i < 10; ++i)
{
BodyDef bd = new BodyDef();
bd.BodyType = BodyType.Dynamic;
bd.Position = new Vec2(0.0f, 5.0f + 1.54f * i);
Body body = m_world.CreateBody(bd);
body.CreateFixture(fd);
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(2.0f * I / mass);
FrictionJointDef jd = new FrictionJointDef();
jd.LocalAnchorA = jd.LocalAnchorB = Vec2.Empty;
jd.BodyA = ground;
jd.BodyB = body;
jd.CollideConnected = true;
jd.MaxForce = mass * gravity;
jd.MaxTorque = mass * radius * gravity;
m_world.CreateJoint(jd);
}
}
}
public BodyTypes()
{
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = m_world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vec2(-20.0f, 0.0f), new Vec2(20.0f, 0.0f));
FixtureDef fd = new FixtureDef();
fd.Shape = shape;
ground.CreateFixture(fd);
}
// Define attachment
{
BodyDef bd = new BodyDef();
bd.BodyType = BodyType.Dynamic;
bd.Position = new Vec2(0.0f, 3.0f);
m_attachment = m_world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.5f, 2.0f);
m_attachment.CreateFixture(shape, 2.0f);
}
// Define platform
{
BodyDef bd = new BodyDef();
bd.BodyType = BodyType.Dynamic;
bd.Position = new Vec2(-4.0f, 5.0f);
m_platform = m_world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.5f, 4.0f, new Vec2(4.0f, 0.0f), 0.5f * (float)Math.PI);
FixtureDef fd = new FixtureDef();
fd.Shape = shape;
fd.Friction = 0.6f;
fd.Density = 2.0f;
m_platform.CreateFixture(fd);
RevoluteJointDef rjd = new RevoluteJointDef();
rjd.Initialize(m_attachment, m_platform, new Vec2(0.0f, 5.0f));
rjd.MaxMotorTorque = 50.0f;
rjd.EnableMotor = true;
m_world.CreateJoint(rjd);
PrismaticJointDef pjd = new PrismaticJointDef();
pjd.Initialize(ground, m_platform, new Vec2(0.0f, 5.0f), new Vec2(1.0f, 0.0f));
pjd.MaxMotorForce = 1000.0f;
pjd.EnableMotor = true;
pjd.LowerTranslation = -10.0f;
pjd.UpperTranslation = 10.0f;
pjd.EnableLimit = true;
m_world.CreateJoint(pjd);
m_speed = 3.0f;
}
// Create a payload
{
BodyDef bd = new BodyDef();
bd.BodyType = BodyType.Dynamic;
bd.Position = new Vec2(0.0f, 8.0f);
m_payload = m_world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.75f, 0.75f);
FixtureDef fd = new FixtureDef();
fd.Shape = shape;
fd.Friction = 0.6f;
fd.Density = 2.0f;
m_payload.CreateFixture(fd);
}
}
public Web()
{
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(0.5f, 0.5f);
BodyDef bd = new BodyDef();
bd.BodyType = BodyType.Dynamic;
bd.Position = new Vec2(-5.0f, 5.0f);
m_bodies[0] = m_world.CreateBody(bd);
m_bodies[0].CreateFixture(shape, 5.0f);
bd.Position = new Vec2(5.0f, 5.0f);
m_bodies[1] = m_world.CreateBody(bd);
m_bodies[1].CreateFixture(shape, 5.0f);
bd.Position = new Vec2(5.0f, 15.0f);
m_bodies[2] = m_world.CreateBody(bd);
m_bodies[2].CreateFixture(shape, 5.0f);
bd.Position = new Vec2(-5.0f, 15.0f);
m_bodies[3] = m_world.CreateBody(bd);
m_bodies[3].CreateFixture(shape, 5.0f);
DistanceJointDef jd = new DistanceJointDef();
Vec2 p1, p2, d;
jd.FrequencyHz = 4.0f;
jd.DampingRatio = 0.5f;
jd.BodyA = ground;
jd.BodyB = m_bodies[0];
jd.LocalAnchorA = new Vec2(-10.0f, 0.0f);
jd.LocalAnchorB = new Vec2(-0.5f, -0.5f);
p1 = jd.BodyA.GetWorldPoint(jd.LocalAnchorA);
p2 = jd.BodyB.GetWorldPoint(jd.LocalAnchorB);
d = p2 - p1;
jd.Length = d.Length();
m_joints[0] = m_world.CreateJoint(jd);
jd.BodyA = ground;
jd.BodyB = m_bodies[1];
jd.LocalAnchorA = new Vec2(10.0f, 0.0f);
jd.LocalAnchorB = new Vec2(0.5f, -0.5f);
p1 = jd.BodyA.GetWorldPoint(jd.LocalAnchorA);
p2 = jd.BodyB.GetWorldPoint(jd.LocalAnchorB);
d = p2 - p1;
jd.Length = d.Length();
m_joints[1] = m_world.CreateJoint(jd);
jd.BodyA = ground;
jd.BodyB = m_bodies[2];
jd.LocalAnchorA = new Vec2(10.0f, 20.0f);
jd.LocalAnchorB = new Vec2(0.5f, 0.5f);
p1 = jd.BodyA.GetWorldPoint(jd.LocalAnchorA);
p2 = jd.BodyB.GetWorldPoint(jd.LocalAnchorB);
d = p2 - p1;
jd.Length = d.Length();
m_joints[2] = m_world.CreateJoint(jd);
jd.BodyA = ground;
jd.BodyB = m_bodies[3];
jd.LocalAnchorA = new Vec2(-10.0f, 20.0f);
jd.LocalAnchorB = new Vec2(-0.5f, 0.5f);
p1 = jd.BodyA.GetWorldPoint(jd.LocalAnchorA);
p2 = jd.BodyB.GetWorldPoint(jd.LocalAnchorB);
d = p2 - p1;
jd.Length = d.Length();
m_joints[3] = m_world.CreateJoint(jd);
jd.BodyA = m_bodies[0];
jd.BodyB = m_bodies[1];
jd.LocalAnchorA = new Vec2(0.5f, 0.0f);
jd.LocalAnchorB = new Vec2(-0.5f, 0.0f);;
p1 = jd.BodyA.GetWorldPoint(jd.LocalAnchorA);
p2 = jd.BodyB.GetWorldPoint(jd.LocalAnchorB);
d = p2 - p1;
jd.Length = d.Length();
m_joints[4] = m_world.CreateJoint(jd);
jd.BodyA = m_bodies[1];
jd.BodyB = m_bodies[2];
jd.LocalAnchorA = new Vec2(0.0f, 0.5f);
jd.LocalAnchorB = new Vec2(0.0f, -0.5f);
p1 = jd.BodyA.GetWorldPoint(jd.LocalAnchorA);
p2 = jd.BodyB.GetWorldPoint(jd.LocalAnchorB);
d = p2 - p1;
jd.Length = d.Length();
m_joints[5] = m_world.CreateJoint(jd);
jd.BodyA = m_bodies[2];
jd.BodyB = m_bodies[3];
jd.LocalAnchorA = new Vec2(-0.5f, 0.0f);
jd.LocalAnchorB = new Vec2(0.5f, 0.0f);
p1 = jd.BodyA.GetWorldPoint(jd.LocalAnchorA);
p2 = jd.BodyB.GetWorldPoint(jd.LocalAnchorB);
d = p2 - p1;
jd.Length = d.Length();
m_joints[6] = m_world.CreateJoint(jd);
jd.BodyA = m_bodies[3];
jd.BodyB = m_bodies[0];
jd.LocalAnchorA = new Vec2(0.0f, -0.5f);
jd.LocalAnchorB = new Vec2(0.0f, 0.5f);
p1 = jd.BodyA.GetWorldPoint(jd.LocalAnchorA);
p2 = jd.BodyB.GetWorldPoint(jd.LocalAnchorB);
d = p2 - p1;
jd.Length = d.Length();
m_joints[7] = m_world.CreateJoint(jd);
}
}
public CollisionProcessing()
{
// Ground body
{
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vector2(-50.0f, 0.0f), new Vector2(50.0f, 0.0f));
FixtureDef sd = new FixtureDef();
sd.shape = shape;
BodyDef bd = new BodyDef();
Body ground = _world.CreateBody(bd);
ground.CreateFixture(sd);
}
float xLo = -5.0f, xHi = 5.0f;
float yLo = 2.0f, yHi = 35.0f;
// Small triangle
Vector2[] vertices = new Vector2[3];
vertices[0] = new Vector2(-1.0f, 0.0f);
vertices[1] = new Vector2(1.0f, 0.0f);
vertices[2] = new Vector2(0.0f, 2.0f);
PolygonShape polygon = new PolygonShape();
polygon.Set(vertices, 3);
FixtureDef triangleShapeDef = new FixtureDef();
triangleShapeDef.shape = polygon;
triangleShapeDef.density = 1.0f;
BodyDef triangleBodyDef = new BodyDef();
triangleBodyDef.type = BodyType.Dynamic;
triangleBodyDef.position = new Vector2(Rand.RandomFloat(xLo, xHi), Rand.RandomFloat(yLo, yHi));
Body body1 = _world.CreateBody(triangleBodyDef);
body1.CreateFixture(triangleShapeDef);
// Large triangle (recycle definitions)
vertices[0] *= 2.0f;
vertices[1] *= 2.0f;
vertices[2] *= 2.0f;
polygon.Set(vertices, 3);
triangleBodyDef.position = new Vector2(Rand.RandomFloat(xLo, xHi), Rand.RandomFloat(yLo, yHi));
Body body2 = _world.CreateBody(triangleBodyDef);
body2.CreateFixture(triangleShapeDef);
// Small box
polygon.SetAsBox(1.0f, 0.5f);
FixtureDef boxShapeDef = new FixtureDef();
boxShapeDef.shape = polygon;
boxShapeDef.density = 1.0f;
BodyDef boxBodyDef = new BodyDef();
boxBodyDef.type = BodyType.Dynamic;
boxBodyDef.position = new Vector2(Rand.RandomFloat(xLo, xHi), Rand.RandomFloat(yLo, yHi));
Body body3 = _world.CreateBody(boxBodyDef);
body3.CreateFixture(boxShapeDef);
// Large box (recycle definitions)
polygon.SetAsBox(2.0f, 1.0f);
boxBodyDef.position = new Vector2(Rand.RandomFloat(xLo, xHi), Rand.RandomFloat(yLo, yHi));
Body body4 = _world.CreateBody(boxBodyDef);
body4.CreateFixture(boxShapeDef);
// Small circle
CircleShape circle = new CircleShape();
circle._radius = 1.0f;
FixtureDef circleShapeDef = new FixtureDef();
circleShapeDef.shape = circle;
circleShapeDef.density = 1.0f;
BodyDef circleBodyDef = new BodyDef();
circleBodyDef.type = BodyType.Dynamic;
circleBodyDef.position = new Vector2(Rand.RandomFloat(xLo, xHi), Rand.RandomFloat(yLo, yHi));
Body body5 = _world.CreateBody(circleBodyDef);
body5.CreateFixture(circleShapeDef);
// Large circle
circle._radius *= 2.0f;
circleBodyDef.position = new Vector2(Rand.RandomFloat(xLo, xHi), Rand.RandomFloat(yLo, yHi));
Body body6 = _world.CreateBody(circleBodyDef);
body6.CreateFixture(circleShapeDef);
}
