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);
}
private void CreateGroundAndWalls()
{
var grounDef = new BodyDef();
grounDef.type = BodyType.Static;
var groundFix = new FixtureDef();
groundFix.restitution = 1.0f;
groundFix.friction = 0.0f;
groundFix.density = 0.0f;
var groundShape = new PolygonShape();
groundShape.SetAsEdge(new Vector2(0, 8), new Vector2(4.8f, 8.0f));
var groundBody = world.CreateBody(grounDef);
groundFix.shape = groundShape;
groundBody.CreateFixture(groundFix);
groundShape.SetAsEdge(new Vector2(0, 0), new Vector2(0f, 8.0f));
var leftBody = world.CreateBody(grounDef);
groundFix.shape = groundShape;
leftBody.CreateFixture(groundFix);
groundShape.SetAsEdge(new Vector2(4.8f, 0), new Vector2(4.8f, 8.0f));
var rightBody = world.CreateBody(grounDef);
groundFix.shape = groundShape;
rightBody.CreateFixture(groundFix);
groundShape.SetAsEdge(new Vector2(0, 0), new Vector2(4.8f, 0));
var topBody = world.CreateBody(grounDef);
groundFix.shape = groundShape;
topBody.CreateFixture(groundFix);
}
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);
}
VerticalStack()
{
{
BodyDef bd = new BodyDef();
Body 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, 0.0f);
shape.SetAsEdge(new Vector2(20.0f, 0.0f), new Vector2(20.0f, 20.0f));
ground.CreateFixture(shape, 0.0f);
}
double[] xs = new double[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];
double x = 0.0f;
//double x = Rand.RandomFloat-0.02f, 0.02f);
//double 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 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);
}
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 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 void AddGround()
{
//Window dimensions
int windowWidth = Window.ClientBounds.Width;
int windowHeight = Window.ClientBounds.Height;
//Ground body definition
BodyDef bd = new BodyDef();
Body ground = physicsWorld.CreateBody(bd);
//Add line fixture to ground body
PolygonShape bottomBounds = new PolygonShape();
bottomBounds.SetAsEdge(new Vector2(0.0f, windowHeight - 25), new Vector2(windowWidth, windowHeight - 25));
PolygonShape topBounds = new PolygonShape();
topBounds.SetAsEdge(new Vector2(0.0f, 0.0f), new Vector2(windowWidth, 0.0f));
PolygonShape leftBounds = new PolygonShape();
leftBounds.SetAsEdge(new Vector2(25.0f, 0.0f), new Vector2(25.0f, windowHeight));
PolygonShape rightBounds = new PolygonShape();
rightBounds.SetAsEdge(new Vector2(windowWidth - 25, 0.0f), new Vector2(windowWidth - 25, windowHeight));
ground.CreateFixture(bottomBounds, 10.0f);
ground.CreateFixture(topBounds, 10.0f);
ground.CreateFixture(leftBounds, 10.0f);
ground.CreateFixture(rightBounds, 10.0f);
}
public ShapeEditing()
{
{
BodyDef bd = new BodyDef();
Body 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);
}
BodyDef bodydef = new BodyDef();
bodydef.type = BodyType.Dynamic;
bodydef.position = new Vector2(0.0, 10.0);
_body = _world.CreateBody(bodydef);
PolygonShape shape2 = new PolygonShape();
shape2.SetAsBox(4.0f, 4.0f, new Vector2(0.0f, 0.0f), 0.0f);
//NoNeed _fixture1 =
_body.CreateFixture(shape2, 10.0);
_fixture2 = null;
}
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 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 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 SphereStack()
{
{
BodyDef bd = new BodyDef();
Body 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);
}
{
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(0.0, 4.0 + 3.0 * i);
_bodies[i] = _world.CreateBody(bd);
_bodies[i].CreateFixture(shape, 1.0);
//_bodies[i].SetLinearVelocity(new Vector2(0.0, -100.0));
}
}
}
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 LineJoint()
{
Body ground = null;
{
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
BodyDef bd = new BodyDef();
ground = m_world.CreateBody(bd);
ground.CreateFixture(shape, 0.0f);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.5f, 2.0f);
BodyDef bd = new BodyDef();
bd.BodyType = BodyType.Dynamic;
bd.Position = new Vec2(0.0f, 7.0f);
Body body = m_world.CreateBody(bd);
body.CreateFixture(shape, 1.0f);
LineJointDef jd = new LineJointDef();
Vec2 axis = new Vec2(2.0f, 1.0f);
axis.Normalize();
jd.Initialize(ground, body, new Vec2(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;
m_world.CreateJoint(jd);
}
}
public LineJoint()
{
Body ground = null;
{
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vector2(-40.0, 0.0), new Vector2(40.0, 0.0));
BodyDef bd = new BodyDef();
ground = _world.CreateBody(bd);
ground.CreateFixture(shape, 0.0);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.5, 2.0);
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(0.0, 7.0);
Body body = _world.CreateBody(bd);
body.CreateFixture(shape, 1.0);
LineJointDef jd = new LineJointDef();
Vector2 axis = new Vector2(2.0, 1.0);
axis.Normalize();
jd.Initialize(ground, body, new Vector2(0.0, 8.5), axis);
jd.motorSpeed = 0.0;
jd.maxMotorForce = 100.0;
jd.enableMotor = true;
jd.lowerTranslation = -4.0;
jd.upperTranslation = 4.0;
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 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 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);
}
}
// Polygon versus 2-sided edge.
/// <summary>
/// Collides the poly and edge using the specified manifold
/// </summary>
/// <param name="manifold">The manifold</param>
/// <param name="polygon">The polygon</param>
/// <param name="transformA">The transform</param>
/// <param name="edge">The edge</param>
/// <param name="transformB">The transform</param>
public static void CollidePolyAndEdge(ref Manifold manifold, PolygonShape polygon, XForm transformA,
EdgeShape edge, XForm transformB)
{
PolygonShape polygonB = new PolygonShape();
polygonB.SetAsEdge(edge.Vertex1, edge.Vertex2);
CollidePolygons(ref manifold, polygon, transformA, polygonB, transformB);
}
public ConfinedBullet()
{
{
BodyDef bd = new BodyDef();
{
Body ground = m_world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
{
shape.SetAsEdge(new Vec2(-10.0f, 0.0f), new Vec2(10.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
ground = m_world.CreateBody(bd);
shape = new PolygonShape();
{
shape.SetAsEdge(new Vec2(-10.0f, 20.0f), new Vec2(10.0f, 20.0f));
ground.CreateFixture(shape, 0.0f);
}
ground = m_world.CreateBody(bd);
shape = new PolygonShape();
{
shape.SetAsEdge(new Vec2(-10.0f, 20.0f), new Vec2(-10.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
ground = m_world.CreateBody(bd);
shape = new PolygonShape();
{
shape.SetAsEdge(new Vec2(10.0f, 20.0f), new Vec2(10.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
}
bd = new BodyDef();
{
bd.BodyType = BodyType.Dynamic;
bd.Position = new Vec2(0, 10.0f);
{
PolygonShape bottom = new PolygonShape(1.5f, 0.15f);
PolygonShape left = new PolygonShape(0.15f, 2.7f, new Vec2(-1.45f, 2.35f), 0.2f);
PolygonShape right = new PolygonShape(0.15f, 2.7f, new Vec2(1.45f, 2.35f), -0.2f);
var body = m_world.CreateBody(bd);
body.IsBullet = true;
body.CreateFixture(new FixtureDef(bottom, 1.0f, 10, 0.1f));
body.CreateFixture(new FixtureDef(left, 1.0f, 10, 0.1f));
body.CreateFixture(new FixtureDef(right, 1.0f, 10, 0.1f));
}
}
}
}
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);
}
}
private void LoadGround()
{
BodyDef bd = new BodyDef();
bd.type = BodyType.Static;
bd.position = Vector2.Zero;
ground = world.CreateBody(bd);
Vector2[] vertices = new Vector2[4];
vertices[0] = new Vector2(0, 0);
vertices[1] = new Vector2(Width * TileWidth, 0);
vertices[2] = new Vector2(Width * TileWidth, Height * TileHeight);
vertices[3] = new Vector2(0, Height * TileHeight);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(vertices[0], vertices[1]); ground.CreateFixture(shape, 1);
shape.SetAsEdge(vertices[1], vertices[2]); ground.CreateFixture(shape, 1);
shape.SetAsEdge(vertices[2], vertices[3]); ground.CreateFixture(shape, 1);
shape.SetAsEdge(vertices[3], vertices[0]); ground.CreateFixture(shape, 1);
}
public SensorTest()
{
{
BodyDef bd = new BodyDef();
Body 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);
}
#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 = 5.0;
shape._p = new Vector2(0.0, 10.0);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.isSensor = true;
_sensor = ground.CreateFixture(fd);
}
#endif
}
{
CircleShape shape = new CircleShape();
shape._radius = 1.0;
for (int i = 0; i < e_count; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(-10.0 + 3.0 * i, 20.0);
bd.userData = i;
_touching[i] = false;
_bodies[i] = _world.CreateBody(bd);
_bodies[i].CreateFixture(shape, 1.0);
}
}
}
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 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
}
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
}
public PolyCollision()
{
{
_polygonA.SetAsEdge(new Vector2(20.0, 0.0), new Vector2(20.0, 20.0));
_transformA.Set(new Vector2(0.0, 0.0), 0.0);
}
{
_polygonB.SetAsBox(0.25f, 0.25f);
_positionB = new Vector2(19.345284f, 1.5632932f);
_angleB = 1.9160721f;
_transformB.Set(_positionB, _angleB);
}
}
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);
}
}
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 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);
}
}
}
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 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);
}
}
}
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 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 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 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 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);
}
}
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 Revolute()
{
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);
}
{
CircleShape shape = new CircleShape();
shape._radius = 0.5f;
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
RevoluteJointDef rjd = new RevoluteJointDef();
bd.position = new Vector2(0.0f, 20.0f);
Body body = _world.CreateBody(bd);
body.CreateFixture(shape, 5.0f);
float w = 100.0f;
body.SetAngularVelocity(w);
body.SetLinearVelocity(new Vector2(-8.0f * w, 0.0f));
rjd.Initialize(ground, body, new Vector2(0.0f, 12.0f));
rjd.motorSpeed = 1.0f * (float)Settings.b2_pi;
rjd.maxMotorTorque = 10000.0f;
rjd.enableMotor = false;
rjd.lowerAngle = -0.25f * (float)Settings.b2_pi;
rjd.upperAngle = 0.5f * (float)Settings.b2_pi;
rjd.enableLimit = true;
rjd.collideConnected = true;
_joint = (RevoluteJoint)_world.CreateJoint(rjd);
}
}
public Revolute()
{
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);
}
{
CircleShape shape = new CircleShape();
shape._radius = 0.5f;
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
RevoluteJointDef rjd = new RevoluteJointDef();
bd.position = new Vector2(0.0f, 20.0f);
Body body = _world.CreateBody(bd);
body.CreateFixture(shape, 5.0f);
float w = 100.0f;
body.SetAngularVelocity(w);
body.SetLinearVelocity(new Vector2(-8.0f * w, 0.0f));
rjd.Initialize(ground, body, new Vector2(0.0f, 12.0f));
rjd.motorSpeed = 1.0f * (float)Settings.b2_pi;
rjd.maxMotorTorque = 10000.0f;
rjd.enableMotor = false;
rjd.lowerAngle = -0.25f * (float)Settings.b2_pi;
rjd.upperAngle = 0.5f * (float)Settings.b2_pi;
rjd.enableLimit = true;
rjd.collideConnected = true;
_joint = (RevoluteJoint)_world.CreateJoint(rjd);
}
}
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);
}
}
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);
}
}
public Pyramid()
{
{
BodyDef bd = new BodyDef();
Body 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 = 0.5;
PolygonShape shape = new PolygonShape();
shape.SetAsBox(a, a);
Vector2 x = new Vector2(-7.0, 0.75);
Vector2 y;
Vector2 deltaX = new Vector2(0.5625, 1.25);
Vector2 deltaY = new Vector2(1.125, 0.0);
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, 5.0);
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 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 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 RayCast()
{
// Ground body
{
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);
}
{
Vec2[] vertices = new Vec2[3];
vertices[0] = new Vec2(-0.5f, 0.0f);
vertices[1] = new Vec2(0.5f, 0.0f);
vertices[2] = new Vec2(0.0f, 1.5f);
m_polygons[0] = new PolygonShape();
m_polygons[0].Vertices = vertices;
}
{
Vec2[] vertices = new Vec2[3];
vertices[0] = new Vec2(-0.1f, 0.0f);
vertices[1] = new Vec2(0.1f, 0.0f);
vertices[2] = new Vec2(0.0f, 1.5f);
m_polygons[1] = new PolygonShape();
m_polygons[1].Vertices = vertices;
}
{
float w = 1.0f;
float b = w / (2.0f + (float)Math.Sqrt(2.0f));
float s = (float)Math.Sqrt(2.0f) * b;
Vec2[] vertices = new Vec2[8];
vertices[0] = new Vec2(0.5f * s, 0.0f);
vertices[1] = new Vec2(0.5f * w, b);
vertices[2] = new Vec2(0.5f * w, b + s);
vertices[3] = new Vec2(0.5f * s, w);
vertices[4] = new Vec2(-0.5f * s, w);
vertices[5] = new Vec2(-0.5f * w, b + s);
vertices[6] = new Vec2(-0.5f * w, b);
vertices[7] = new Vec2(-0.5f * s, 0.0f);
m_polygons[2] = new PolygonShape();
m_polygons[2].Vertices = vertices;
}
{
m_polygons[3] = new PolygonShape();
m_polygons[3].SetAsBox(0.5f, 0.5f);
}
{
m_circle = new CircleShape();
m_circle.Radius = 0.5f;
}
m_bodyIndex = 0;
m_angle = 0.0f;
m_mode = Mode.e_closest;
}
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;
}
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);
}
}
}
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 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 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);
}
}
