public Gun() { { Body ground = m_world.CreateBody(new BodyDef()); ground.CreateFixture(new PolygonShape(new Vec2(-80, 0), new Vec2(80, 0)), 0); ground.CreateFixture(new PolygonShape(new Vec2(0, 15), new Vec2(-1.5f, 4)), 0); ground.CreateFixture(new PolygonShape(new Vec2(4.5f, 15), new Vec2(3.0f, 4)), 0); ground.CreateFixture(new PolygonShape(new Vec2(-1.5f, 4), new Vec2(3.0f, 4)), 0); { Body feeder = m_world.CreateBody(new BodyDef(BodyType.Dynamic, new Vec2(-0.05f, 3))); feeder.CreateFixture(new PolygonShape(new Vec2(-1.39f + 0.04f, 1.2f), new Vec2(-1.39f, 1), new Vec2(2.99f, 1), new Vec2(2.99f + 0.04f, 1.2f)), 0.5f); PrismaticJointDef pjd = new PrismaticJointDef(); pjd.Initialize(feeder, ground, feeder.WorldCenter, (feeder.WorldCenter - new Vec2(2.25f, 15)).Normalized()); pjd.CollideConnected = false; pjd.EnableLimit = true; pjd.LowerTranslation = 0; pjd.UpperTranslation = 15.0f - (.1f); m_world.CreateJoint(pjd); } } { const float addX = 0.16f; const float addY = 1.42f; Vec2 pos = new Vec2(6.90f, 8.45f); for (int i = 0; i < 9; ++i) { AddBullet(pos, (float)((Math.PI) + (Math.PI / 2))); pos += new Vec2(addX, addY); } } }
private void addBaffleX(Body body) { try { if (body.GetUserData() == null) { return; } GizmoComponents myGizmo = (GizmoComponents)body.GetUserData(); //添加Shape addPolygon(body); BodyDef kinematicBodyDef = new BodyDef(); kinematicBodyDef.Position.Set(0, myGizmo.PositionY); Body kinematicBody = myWorld.CreateBody(kinematicBodyDef); PrismaticJointDef jointDef = new PrismaticJointDef(); Vec2 worldAxis = new Vec2(1, 0); jointDef.Initialize(body, kinematicBody, kinematicBody.GetWorldCenter(), worldAxis); jointDef.LowerTranslation = -100f; jointDef.UpperTranslation = 100f; jointDef.EnableLimit = true; PrismaticJoint joint = (PrismaticJoint)myWorld.CreateJoint(jointDef); } catch (Exception e) { MessageBox.Show("PhysicalWorld-addBaffleX函数出错"); } }
void Start() { if (connectedBody == null) { return; } var jointDef = new PrismaticJointDef(); #if USING_BOX2DX jointDef.Initialize(GetComponent <Box2DBody>(), connectedBody, anchor.ToVec2(), axis.ToVec2()); #else jointDef.Initialize(GetComponent <Box2DBody>(), connectedBody, anchor, axis); #endif jointDef.MaxMotorForce = maxMotorForce; jointDef.EnableMotor = enableMotor; joint = (PrismaticJoint)Box2DWorld.Instance().CreateJoint(jointDef); }
/// <summary> /// Creates a distance joint between two bodies /// </summary> /// <param name="b1"></param> /// <param name="b2"></param> /// <param name="anchor"></param> /// <param name="axis"></param> public void joinBodies_Prismatic(Body b1, Body b2, Vector2 anchor, Vector2 axis) { PrismaticJointDef pjd = new PrismaticJointDef(); pjd.upperTranslation = 1; pjd.lowerTranslation = -1; pjd.enableMotor = true; pjd.maxMotorForce = 1000; pjd.motorSpeed = 1; pjd.Initialize(b1, b2, anchor, axis); PrismaticJoint pj = physicsWorld.CreateJoint(pjd) as PrismaticJoint; }
// Use this for initialization protected override IntPtr Init() { PrismaticJointDef jd = new PrismaticJointDef(other.body, body.body); jd.Initialize(other.body, body.body, anchor, axis); jd.enableLimit = enableLimit; jd.lowerTranslation = lowerTranslation; jd.upperTranslation = upperTranslation; jd.enableMotor = enableMotor; jd.maxMotorForce = maxMotorForce; jd.motorSpeed = motorSpeed; return(API.CreatePrismaticJoint(B2DWorld.instance.world, jd)); }
/// <summary> /// Creates a distance joint between two bodies /// </summary> /// <param name="b1"></param> /// <param name="b2"></param> /// <param name="anchor"></param> /// <param name="axis"></param> /// <param name="uppertranslation"></param> /// <param name="lowertranslation"></param> /// <param name="motorspeed"></param> public void joinBodies_Prismatic(Body b1, Body b2, Vector2 anchor, Vector2 axis, float uppertranslation, float lowertranslation, float motorspeed) { PrismaticJointDef pjd = new PrismaticJointDef(); pjd.Initialize(b1, b2, anchor, axis); if (motorspeed != 0) { pjd.enableMotor = true; } pjd.motorSpeed = motorspeed; pjd.lowerTranslation = lowertranslation; pjd.upperTranslation = uppertranslation; PrismaticJoint pj = physicsWorld.CreateJoint(pjd) as PrismaticJoint; }
public Prismatic() { Body ground = null; { BodyDef bd = new BodyDef(); ground = m_world.CreateBody(bd); EdgeShape shape = new EdgeShape(); shape.Set(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f)); shape.Density = 0; ground.CreateFixture(shape); } { PolygonShape shape = new PolygonShape(); shape.SetAsBox(2.0f, 0.5f); shape.Density = 5; BodyDef bd = new BodyDef(); bd.type = BodyType._dynamicBody; bd.Position.Set(-10.0f, 10.0f); bd.angle = 0.5f * (float)Math.PI; bd.allowSleep = false; Body body = m_world.CreateBody(bd); body.CreateFixture(shape); PrismaticJointDef pjd = new PrismaticJointDef(); // Bouncy limit Vec2 axis = new Vec2(2.0f, 1.0f); axis.Normalize(); pjd.Initialize(ground, body, new Vec2(0.0f, 0.0f), axis); // Non-bouncy limit //pjd.Initialize(ground, body, new Vec2(-10.0f, 10.0f), new Vec2(1.0f, 0.0f)); pjd.motorSpeed = 10.0f; pjd.maxMotorForce = 10000.0f; pjd.enableMotor = true; pjd.lowerTranslation = 0.0f; pjd.upperTranslation = 20.0f; pjd.enableLimit = true; m_joint = (PrismaticJoint)m_world.CreateJoint(pjd); } }
public Prismatic() { Body ground; { var bd = new BodyDef(); 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 shape = new PolygonShape(); shape.SetAsBox(2.0f, 0.5f); var bd = new BodyDef(); bd.BodyType = BodyType.DynamicBody; bd.Position.Set(-10.0f, 10.0f); bd.Angle = 0.5f * Settings.Pi; bd.AllowSleep = false; var body = World.CreateBody(bd); body.CreateFixture(shape, 5.0f); var pjd = new PrismaticJointDef(); // Bouncy limit var axis = new Vector2(2.0f, 1.0f); axis = Vector2.Normalize(axis); 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 = 10000.0f; pjd.EnableMotor = true; pjd.LowerTranslation = 0.0f; pjd.UpperTranslation = 20.0f; pjd.EnableLimit = true; _joint = (PrismaticJoint)World.CreateJoint(pjd); } }
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); } }
public Prismatic() { Body ground = null; { PolygonDef sd = new PolygonDef(); sd.SetAsBox(50.0f, 10.0f); BodyDef bd = new BodyDef(); bd.Position.Set(0.0f, -10.0f); ground = _world.CreateBody(bd); ground.CreateShape(sd); } { PolygonDef sd = new PolygonDef(); sd.SetAsBox(2.0f, 0.5f); sd.Density = 5.0f; sd.Friction = 0.05f; BodyDef bd = new BodyDef(); bd.Position.Set(-10.0f, 10.0f); bd.Angle = 0.5f * Box2DX.Common.Settings.Pi; Body body = _world.CreateBody(bd); body.CreateShape(sd); body.SetMassFromShapes(); PrismaticJointDef pjd = new PrismaticJointDef(); // Bouncy limit pjd.Initialize(ground, body, new Vec2(0.0f, 0.0f), new Vec2(1.0f, 0.0f)); // Non-bouncy limit //pjd.Initialize(ground, body, Vec2(-10.0f, 10.0f), Vec2(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 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 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 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 SliderCrank() { 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); } { Body prevBody = ground; // Define crank. { 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, 2.0); RevoluteJointDef rjd = new RevoluteJointDef(); rjd.Initialize(prevBody, body, new Vector2(0.0, 5.0)); rjd.motorSpeed = 1.0 * Alt.Box2D.Settings.b2_pi; rjd.maxMotorTorque = 10000.0; rjd.enableMotor = true; _joint1 = (RevoluteJoint)_world.CreateJoint(rjd); prevBody = body; } // Define follower. { PolygonShape shape = new PolygonShape(); shape.SetAsBox(0.5, 4.0); 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); } } }
/// <summary> /// Add objects to the Box2d world. /// </summary> protected override void PopulateWorld() { // ==== Define the ground body ==== BodyDef groundBodyDef = new BodyDef(); groundBodyDef.Position.Set(0f, -0.25f); // Call the body factory which creates the ground box shape. // The body is also added to the world. Body groundBody = _world.CreateBody(groundBodyDef); // Define the ground box shape. PolygonDef groundShapeDef = new PolygonDef(); // The extents are the half-widths of the box. groundShapeDef.SetAsBox(_trackLengthHalf + 1f, 0.25f); groundShapeDef.Friction = _simParams._defaultFriction; groundShapeDef.Restitution = _simParams._defaultRestitution; groundShapeDef.Filter.CategoryBits = 0x3; // Add the ground shape to the ground body. groundBody.CreateShape(groundShapeDef); // ==== Define the cart body. BodyDef cartBodyDef = new BodyDef(); cartBodyDef.Position.Set(0f, 0.15f); // Create cart body. _cartBody = _world.CreateBody(cartBodyDef); PolygonDef cartShapeDef = new PolygonDef(); cartShapeDef.SetAsBox(0.5f, 0.125f); cartShapeDef.Friction = 0f; cartShapeDef.Restitution = 0f; cartShapeDef.Density = 16f; _cartBody.CreateShape(cartShapeDef); _cartBody.SetMassFromShapes(); // Fix cart to 'track' (prismatic joint). PrismaticJointDef cartTrackJointDef = new PrismaticJointDef(); cartTrackJointDef.EnableMotor = true; cartTrackJointDef.LowerTranslation = -_trackLengthHalf; cartTrackJointDef.UpperTranslation = _trackLengthHalf; cartTrackJointDef.EnableLimit = true; cartTrackJointDef.Initialize(groundBody, _cartBody, new Vec2(0f, 0f), new Vec2(1f, 0f)); _cartTrackJoint = (PrismaticJoint)_world.CreateJoint(cartTrackJointDef); // ===== Create arm1. const float poleRadius = 0.025f; // Half the thickness of the pole. Vec2 arm1PosBase = new Vec2(0f, 0.275f); Body arm1Body = CreatePole(arm1PosBase, _cartJointInitialAngle, poleRadius, 0f, 0f, 2f, 0x0); // Join arm1 to cart. RevoluteJointDef poleJointDef = new RevoluteJointDef(); poleJointDef.CollideConnected = false; poleJointDef.EnableMotor = false; poleJointDef.MaxMotorTorque = 0f; poleJointDef.Initialize(_cartBody, arm1Body, arm1PosBase); _cartJoint = (RevoluteJoint)_world.CreateJoint(poleJointDef); // ===== Create arm2. Vec2 arm2PosBase = CalcPoleEndPos(arm1Body); Body arm2Body = CreatePole(arm2PosBase, _elbowJointInitialAngle, poleRadius, 0f, 0f, 2f, 0x0); _arm2Body = arm2Body; // Join arm2 to arm1. poleJointDef.CollideConnected = false; poleJointDef.EnableMotor = false; poleJointDef.MaxMotorTorque = 0f; poleJointDef.Initialize(arm1Body, arm2Body, arm2PosBase); _elbowJoint = (RevoluteJoint)_world.CreateJoint(poleJointDef); }
public BodyTypes() { Body ground = null; { BodyDef bd = new BodyDef(); ground = _world.CreateBody(bd); PolygonShape shape = new PolygonShape(); shape.SetAsEdge(new Vector2(-20.0, 0.0), new Vector2(20.0, 0.0)); FixtureDef fd = new FixtureDef(); fd.shape = shape; ground.CreateFixture(fd); } // Define attachment { BodyDef bd = new BodyDef(); bd.type = BodyType.Dynamic; bd.position = new Vector2(0.0f, 3.0f); _attachment = _world.CreateBody(bd); PolygonShape shape = new PolygonShape(); shape.SetAsBox(0.5f, 2.0f); _attachment.CreateFixture(shape, 2.0f); } // Define platform { BodyDef bd = new BodyDef(); bd.type = BodyType.Dynamic; bd.position = new Vector2(-4.0f, 5.0f); _platform = _world.CreateBody(bd); PolygonShape shape = new PolygonShape(); shape.SetAsBox(0.5f, 4.0f, new Vector2(4.0f, 0.0f), 0.5f * (double)Math.PI); FixtureDef fd = new FixtureDef(); fd.shape = shape; fd.friction = 0.6f; fd.density = 2.0f; _platform.CreateFixture(fd); RevoluteJointDef rjd = new RevoluteJointDef(); rjd.Initialize(_attachment, _platform, new Vector2(0.0f, 5.0f)); rjd.maxMotorTorque = 50.0f; rjd.enableMotor = true; _world.CreateJoint(rjd); PrismaticJointDef pjd = new PrismaticJointDef(); pjd.Initialize(ground, _platform, new Vector2(0.0f, 5.0f), new Vector2(1.0f, 0.0f)); pjd.maxMotorForce = 1000.0f; pjd.enableMotor = true; pjd.lowerTranslation = -10.0f; pjd.upperTranslation = 10.0f; pjd.enableLimit = true; _world.CreateJoint(pjd); _speed = 3.0f; } // Create a payload { BodyDef bd = new BodyDef(); bd.type = BodyType.Dynamic; bd.position = new Vector2(0.0f, 8.0f); Body body = _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; body.CreateFixture(fd); } }
Gears() { Body ground = null; { BodyDef bd = new BodyDef(); 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); } { CircleShape circle1 = new CircleShape(); circle1._radius = 1.0f; CircleShape circle2 = new CircleShape(); circle2._radius = 2.0f; PolygonShape box = new PolygonShape(); box.SetAsBox(0.5f, 5.0f); BodyDef bd1 = new BodyDef(); bd1.type = BodyType.Dynamic; bd1.position = new Vector2(-3.0f, 12.0f); Body body1 = _world.CreateBody(bd1); body1.CreateFixture(circle1, 5.0f); RevoluteJointDef jd1 = new RevoluteJointDef(); jd1.bodyA = ground; jd1.bodyB = body1; jd1.localAnchorA = ground.GetLocalPoint(bd1.position); jd1.localAnchorB = body1.GetLocalPoint(bd1.position); jd1.referenceAngle = body1.GetAngle() - ground.GetAngle(); _joint1 = (RevoluteJoint)_world.CreateJoint(jd1); BodyDef bd2 = new BodyDef(); bd2.type = BodyType.Dynamic; bd2.position = new Vector2(0.0f, 12.0f); Body body2 = _world.CreateBody(bd2); body2.CreateFixture(circle2, 5.0f); RevoluteJointDef jd2 = new RevoluteJointDef(); jd2.Initialize(ground, body2, bd2.position); _joint2 = (RevoluteJoint)_world.CreateJoint(jd2); BodyDef bd3 = new BodyDef(); bd3.type = BodyType.Dynamic; bd3.position = new Vector2(2.5f, 12.0f); Body body3 = _world.CreateBody(bd3); body3.CreateFixture(box, 5.0f); PrismaticJointDef jd3 = new PrismaticJointDef(); jd3.Initialize(ground, body3, bd3.position, new Vector2(0.0f, 1.0f)); jd3.lowerTranslation = -5.0f; jd3.upperTranslation = 5.0f; jd3.enableLimit = true; _joint3 = (PrismaticJoint)_world.CreateJoint(jd3); GearJointDef jd4 = new GearJointDef(); jd4.bodyA = body1; jd4.bodyB = body2; jd4.joint1 = _joint1; jd4.joint2 = _joint2; jd4.ratio = circle2._radius / circle1._radius; _joint4 = (GearJoint)_world.CreateJoint(jd4); GearJointDef jd5 = new GearJointDef(); jd5.bodyA = body2; jd5.bodyB = body3; jd5.joint1 = _joint2; jd5.joint2 = _joint3; jd5.ratio = -1.0f / circle2._radius; _joint5 = (GearJoint)_world.CreateJoint(jd5); } }
public SliderCrank() { Body ground = null; { PolygonDef sd = new PolygonDef(); sd.SetAsBox(50.0f, 10.0f); BodyDef bd = new BodyDef(); bd.Position.Set(0.0f, -10.0f); ground = _world.CreateBody(bd); ground.CreateFixture(sd); } { // Define crank. PolygonDef sd = new PolygonDef(); sd.SetAsBox(0.5f, 2.0f); sd.Density = 1.0f; RevoluteJointDef rjd = new RevoluteJointDef(); Body prevBody = ground; BodyDef bd = new BodyDef(); bd.Position.Set(0.0f, 7.0f); Body body = _world.CreateBody(bd); body.CreateFixture(sd); body.SetMassFromShapes(); rjd.Initialize(prevBody, body, new Vec2(0.0f, 5.0f)); rjd.MotorSpeed = 1.0f * Box2DNet.Common.Settings.Pi; rjd.MaxMotorTorque = 10000.0f; rjd.EnableMotor = true; _joint1 = (RevoluteJoint)_world.CreateJoint(rjd); prevBody = body; // Define follower. sd.SetAsBox(0.5f, 4.0f); bd.Position.Set(0.0f, 13.0f); body = _world.CreateBody(bd); body.CreateFixture(sd); body.SetMassFromShapes(); rjd.Initialize(prevBody, body, new Vec2(0.0f, 9.0f)); rjd.EnableMotor = false; _world.CreateJoint(rjd); prevBody = body; // Define piston sd.SetAsBox(1.5f, 1.5f); bd.Position.Set(0.0f, 17.0f); body = _world.CreateBody(bd); body.CreateFixture(sd); body.SetMassFromShapes(); rjd.Initialize(prevBody, body, new Vec2(0.0f, 17.0f)); _world.CreateJoint(rjd); PrismaticJointDef pjd = new PrismaticJointDef(); pjd.Initialize(ground, body, new Vec2(0.0f, 17.0f), new Vec2(0.0f, 1.0f)); pjd.MaxMotorForce = 1000.0f; pjd.EnableMotor = true; _joint2 = (PrismaticJoint)_world.CreateJoint(pjd); // Create a payload sd.Density = 2.0f; bd.Position.Set(0.0f, 23.0f); body = _world.CreateBody(bd); body.CreateFixture(sd); body.SetMassFromShapes(); } }
public GearJoint() { Body ground; { var bd = new BodyDef(); ground = World.CreateBody(bd); var shape = new EdgeShape(); shape.SetTwoSided(new Vector2(50.0f, 0.0f), new Vector2(-50.0f, 0.0f)); ground.CreateFixture(shape, 0.0f); } { var circle1 = new CircleShape(); circle1.Radius = 1.0f; var box = new PolygonShape(); box.SetAsBox(0.5f, 5.0f); var circle2 = new CircleShape(); circle2.Radius = 2.0f; var bd1 = new BodyDef(); bd1.BodyType = BodyType.StaticBody; bd1.Position.Set(10.0f, 9.0f); var body1 = World.CreateBody(bd1); body1.CreateFixture(circle1, 5.0f); var bd2 = new BodyDef(); bd2.BodyType = BodyType.DynamicBody; bd2.Position.Set(10.0f, 8.0f); var body2 = World.CreateBody(bd2); body2.CreateFixture(box, 5.0f); var bd3 = new BodyDef(); bd3.BodyType = BodyType.DynamicBody; bd3.Position.Set(10.0f, 6.0f); var body3 = World.CreateBody(bd3); body3.CreateFixture(circle2, 5.0f); var jd1 = new RevoluteJointDef(); jd1.Initialize(body1, body2, bd1.Position); var joint1 = World.CreateJoint(jd1); var jd2 = new RevoluteJointDef(); jd2.Initialize(body2, body3, bd3.Position); var joint2 = World.CreateJoint(jd2); var jd4 = new GearJointDef(); jd4.BodyA = body1; jd4.BodyB = body3; jd4.Joint1 = joint1; jd4.Joint2 = joint2; jd4.Ratio = circle2.Radius / circle1.Radius; World.CreateJoint(jd4); } { var circle1 = new CircleShape(); circle1.Radius = 1.0f; var circle2 = new CircleShape(); circle2.Radius = 2.0f; var box = new PolygonShape(); box.SetAsBox(0.5f, 5.0f); var bd1 = new BodyDef(); bd1.BodyType = BodyType.DynamicBody; bd1.Position.Set(-3.0f, 12.0f); var body1 = World.CreateBody(bd1); body1.CreateFixture(circle1, 5.0f); var jd1 = new RevoluteJointDef(); jd1.BodyA = ground; jd1.BodyB = body1; jd1.LocalAnchorA = ground.GetLocalPoint(bd1.Position); jd1.LocalAnchorB = body1.GetLocalPoint(bd1.Position); jd1.ReferenceAngle = body1.GetAngle() - ground.GetAngle(); _joint1 = (RevoluteJoint)World.CreateJoint(jd1); var bd2 = new BodyDef(); bd2.BodyType = BodyType.DynamicBody; bd2.Position.Set(0.0f, 12.0f); var body2 = World.CreateBody(bd2); body2.CreateFixture(circle2, 5.0f); var jd2 = new RevoluteJointDef(); jd2.Initialize(ground, body2, bd2.Position); _joint2 = (RevoluteJoint)World.CreateJoint(jd2); var bd3 = new BodyDef(); bd3.BodyType = BodyType.DynamicBody; bd3.Position.Set(2.5f, 12.0f); var body3 = World.CreateBody(bd3); body3.CreateFixture(box, 5.0f); var jd3 = new PrismaticJointDef(); jd3.Initialize(ground, body3, bd3.Position, new Vector2(0.0f, 1.0f)); jd3.LowerTranslation = -5.0f; jd3.UpperTranslation = 5.0f; jd3.EnableLimit = true; _joint3 = (PrismaticJoint)World.CreateJoint(jd3); var jd4 = new GearJointDef(); jd4.BodyA = body1; jd4.BodyB = body2; jd4.Joint1 = _joint1; jd4.Joint2 = _joint2; jd4.Ratio = circle2.Radius / circle1.Radius; _joint4 = (Box2DSharp.Dynamics.Joints.GearJoint)World.CreateJoint(jd4); var jd5 = new GearJointDef(); jd5.BodyA = body2; jd5.BodyB = body3; jd5.Joint1 = _joint2; jd5.Joint2 = _joint3; jd5.Ratio = -1.0f / circle2.Radius; _joint5 = (Box2DSharp.Dynamics.Joints.GearJoint)World.CreateJoint(jd5); } }
public void JointReactions() { var gravity = new Vector2(0, -10.0f); World world = new World(gravity); BodyDef bodyDef = new BodyDef(); Body ground = world.CreateBody(bodyDef); CircleShape circle = new CircleShape(); circle.Radius = 1.0f; FixtureDef fixtureDef = new FixtureDef(); // Disable collision fixtureDef.Filter.MaskBits = 0; fixtureDef.Density = 1.0f; fixtureDef.Shape = circle; bodyDef.BodyType = BodyType.DynamicBody; bodyDef.Position.Set(-2.0f, 3.0f); var bodyA = world.CreateBody(bodyDef); var bodyB = world.CreateBody(bodyDef); var bodyC = world.CreateBody(bodyDef); circle.ComputeMass(out var massData, fixtureDef.Density); var mg = massData.Mass * gravity.Y; bodyA.CreateFixture(fixtureDef); bodyB.CreateFixture(fixtureDef); bodyC.CreateFixture(fixtureDef); DistanceJointDef distanceJointDef = new DistanceJointDef(); distanceJointDef.Initialize(ground, bodyA, bodyDef.Position + new Vector2(0.0f, 4.0f), bodyDef.Position); distanceJointDef.MinLength = distanceJointDef.Length; distanceJointDef.MaxLength = distanceJointDef.Length; PrismaticJointDef prismaticJointDef = new PrismaticJointDef(); prismaticJointDef.Initialize(ground, bodyB, bodyDef.Position, new Vector2(1.0f, 0.0f)); RevoluteJointDef revoluteJointDef = new RevoluteJointDef(); revoluteJointDef.Initialize(ground, bodyC, bodyDef.Position); var distanceJoint = (DistanceJoint)world.CreateJoint(distanceJointDef); var prismaticJoint = (PrismaticJoint)world.CreateJoint(prismaticJointDef); var revoluteJoint = (RevoluteJoint)world.CreateJoint(revoluteJointDef); const float timeStep = 1 / 60f; const float invTimeStep = 60.0f; const int velocityIterations = 6; const int positionIterations = 2; world.Step(timeStep, velocityIterations, positionIterations); const float tol = 1e-5f; { var F = distanceJoint.GetReactionForce(invTimeStep); var T = distanceJoint.GetReactionTorque(invTimeStep); F.X.ShouldBe(0.0f); Math.Abs(F.Y + mg).ShouldBeLessThan(tol); T.ShouldBe(0.0f); } { var F = prismaticJoint.GetReactionForce(invTimeStep); var T = prismaticJoint.GetReactionTorque(invTimeStep); F.X.ShouldBe(0.0f); Math.Abs(F.Y + mg).ShouldBeLessThan(tol); T.ShouldBe(0.0f); } { var F = revoluteJoint.GetReactionForce(invTimeStep); var T = revoluteJoint.GetReactionTorque(invTimeStep); F.X.ShouldBe(0.0f); Math.Abs(F.Y + mg).ShouldBeLessThan(tol); T.ShouldBe(0.0f); } }
public static Joint AddJoint(this IJointable ithis, V2DJoint joint, float offsetX, float offsetY) { Joint result = null; JointDef jointDef = null; //Body targ0 = ithis.VScreen.bodyMap[joint.Body1]; //Body targ1 = ithis.VScreen.bodyMap[joint.Body2]; Body targ0 = GetBody(ithis, joint.Body1); Body targ1 = GetBody(ithis, joint.Body2); // gears need the first body static if (targ0 != null && targ1 != null && targ1.GetType() == BodyType.Static && targ0.GetType() != BodyType.Static) { Body temp = targ0; targ0 = targ1; targ1 = temp; } Vector2 pt0 = new Vector2(joint.X + offsetX, joint.Y + offsetY); string name = joint.Name; Vector2 anchor0 = new Vector2(pt0.X / V2DScreen.WorldScale, pt0.Y / V2DScreen.WorldScale); Vector2 anchor1 = new Vector2(); switch (joint.Type) { case V2DJointKind.Distance: Vector2 pt1 = new Vector2(joint.X2 + offsetX, joint.Y2 + offsetY); anchor1 = new Vector2(pt1.X / V2DScreen.WorldScale, pt1.Y / V2DScreen.WorldScale); DistanceJointDef dj = new DistanceJointDef(); dj.Initialize(targ0, targ1, anchor0, anchor1); dj.collideConnected = joint.CollideConnected; dj.dampingRatio = joint.DampingRatio; dj.frequencyHz = joint.FrequencyHz; if (joint.Length != -1) { dj.length = joint.Length / V2DScreen.WorldScale; } jointDef = dj; break; case V2DJointKind.Revolute: float rot0 = joint.Min; //(typeof(joint["min"]) == "string") ? parseFloat(joint["min"]) / 180 * Math.PI : joint["min"]; float rot1 = joint.Max; //(typeof(joint["max"]) == "string") ? parseFloat(joint["max"]) / 180 * Math.PI : joint["max"]; RevoluteJointDef rj = new RevoluteJointDef(); rj.Initialize(targ0, targ1, anchor0); rj.lowerAngle = rot0; rj.upperAngle = rot1; rj.enableLimit = rot0 != 0 && rot1 != 0; rj.maxMotorTorque = joint.MaxMotorTorque; rj.motorSpeed = joint.MotorSpeed; rj.enableMotor = joint.EnableMotor; jointDef = rj; break; case V2DJointKind.Prismatic: float axisX = joint.AxisX; float axisY = joint.AxisY; float min = joint.Min; float max = joint.Max; PrismaticJointDef pj = new PrismaticJointDef(); Vector2 worldAxis = new Vector2(axisX, axisY); pj.Initialize(targ0, targ1, anchor0, worldAxis); pj.lowerTranslation = min / V2DScreen.WorldScale; pj.upperTranslation = max / V2DScreen.WorldScale; pj.enableLimit = joint.EnableLimit; pj.maxMotorForce = joint.MaxMotorTorque; pj.motorSpeed = joint.MotorSpeed; pj.enableMotor = joint.EnableMotor; jointDef = pj; break; case V2DJointKind.Pully: Vector2 pt2 = new Vector2(joint.X2 + offsetX, joint.Y2 + offsetY); anchor1 = new Vector2(pt2.X / V2DScreen.WorldScale, pt2.Y / V2DScreen.WorldScale); Vector2 groundAnchor0 = new Vector2(joint.GroundAnchor1X / V2DScreen.WorldScale, joint.GroundAnchor1Y / V2DScreen.WorldScale); Vector2 groundAnchor1 = new Vector2(joint.GroundAnchor2X / V2DScreen.WorldScale, joint.GroundAnchor2Y / V2DScreen.WorldScale); float max0 = joint.MaxLength1; float max1 = joint.MaxLength2; float rat = joint.Ratio; PulleyJointDef puj = new PulleyJointDef(); puj.Initialize(targ0, targ1, groundAnchor0, groundAnchor1, anchor0, anchor1, rat); puj.maxLengthA = (max0 + max1) / V2DScreen.WorldScale; puj.maxLengthB = (max0 + max1) / V2DScreen.WorldScale; puj.collideConnected = joint.CollideConnected; jointDef = puj; break; case V2DJointKind.Gear: GearJointDef gj = new GearJointDef(); gj.bodyA = targ0; gj.bodyB = targ1; gj.joint1 = GetFirstGearableJoint(targ0.GetJointList()); gj.joint2 = GetFirstGearableJoint(targ1.GetJointList()); gj.ratio = joint.Ratio; jointDef = gj; break; } if (jointDef != null) { result = SetJointWithReflection(ithis, name, jointDef); if (result != null) { Dictionary <string, string> dict = new Dictionary <string, string>(); dict["name"] = name; result.SetUserData(dict); } } return(result); }
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); } } }
// Main... public ElasticBody() { // Bottom static body { PolygonDef sd = new PolygonDef(); sd.SetAsBox(50.0f, 2.0f); sd.Friction = 0.1f; sd.Restitution = 0.1f; BodyDef bd = new BodyDef(); bd.Position.Set(-1.0f, -7.5f); _ground = _world.CreateBody(bd); _ground.CreateFixture(sd); } // Upper static body { PolygonDef sd = new PolygonDef(); sd.SetAsBox(20.0f, 0.50f, new Vec2(0.0f, 0.0f), 0.047f * Box2DNet.Common.Settings.Pi); sd.Friction = 0.01f; sd.Restitution = 0.001f; BodyDef bd = new BodyDef(); bd.Position.Set(-20.0f, 93.0f); Body g = _world.CreateBody(bd); g.CreateFixture(sd); sd.SetAsBox(15.0f, 0.50f, new Vec2(-15.0f, 12.5f), 0.0f); g.CreateFixture(sd); sd.SetAsBox(20.0f, 0.5f, new Vec2(0.0f, -25.0f), -0.5f); g.CreateFixture(sd); } // Left channel left wall { PolygonDef sd = new PolygonDef(); sd.SetAsBox(0.7f, 55.0f); sd.Friction = 0.1f; sd.Restitution = 0.1f; BodyDef bd = new BodyDef(); bd.Position.Set(-49.3f, 50.0f); Body g = _world.CreateBody(bd); g.CreateFixture(sd); } // Right wall { PolygonDef sd = new PolygonDef(); sd.SetAsBox(0.7f, 55.0f); sd.Friction = 0.1f; sd.Restitution = 0.1f; BodyDef bd = new BodyDef(); bd.Position.Set(45.0f, 50.0f); Body g = _world.CreateBody(bd); g.CreateFixture(sd); } // Left channel right upper wall { PolygonDef sd = new PolygonDef(); sd.SetAsBox(0.5f, 20.0f); sd.Friction = 0.05f; sd.Restitution = 0.01f; BodyDef bd = new BodyDef(); bd.Position.Set(-42.0f, 70.0f); bd.Angle = -0.03f * Box2DNet.Common.Settings.Pi; Body g = _world.CreateBody(bd); g.CreateFixture(sd); } // Left channel right lower wall { PolygonDef sd = new PolygonDef(); sd.SetAsBox(0.50f, 23.0f); sd.Friction = 0.05f; sd.Restitution = 0.01f; BodyDef bd = new BodyDef(); bd.Position.Set(-44.0f, 27.0f); Body g = _world.CreateBody(bd); g.CreateFixture(sd); // Bottom motors CircleDef cd = new CircleDef(); cd.Radius = 3.0f; cd.Density = 15.0f; cd.Friction = 1.0f; cd.Restitution = 0.2f; // 1. bd.Position.Set(-40.0f, 2.5f); Body body = _world.CreateBody(bd); body.CreateFixture(cd); body.SetMassFromShapes(); RevoluteJointDef jr = new RevoluteJointDef(); jr.Initialize(g, body, body.GetWorldCenter() + new Vec2(0.0f, 1.0f)); jr.MaxMotorTorque = 30000.0f; jr.EnableMotor = true; jr.MotorSpeed = 20.0f; _world.CreateJoint(jr); // 1. left down bd.Position.Set(-46.0f, -2.5f); cd.Radius = 1.5f; jr.MotorSpeed = -20.0f; body = _world.CreateBody(bd); body.CreateFixture(cd); sd.SetAsBox(2.0f, 0.50f); body.CreateFixture(sd); body.SetMassFromShapes(); jr.Initialize(g, body, body.GetWorldCenter()); _world.CreateJoint(jr); // 2. cd.Radius = 3.0f; jr.MotorSpeed = 20.0f; bd.Position.Set(-32.0f, 2.5f); body = _world.CreateBody(bd); body.CreateFixture(cd); body.SetMassFromShapes(); jr.Initialize(g, body, body.GetWorldCenter() + new Vec2(0.0f, 1.0f)); _world.CreateJoint(jr); // 3. jr.MotorSpeed = 20.0f; bd.Position.Set(-24.0f, 1.5f); body = _world.CreateBody(bd); body.CreateFixture(cd); body.SetMassFromShapes(); jr.Initialize(g, body, body.GetWorldCenter() + new Vec2(0.0f, 1.0f)); _world.CreateJoint(jr); // 4. bd.Position.Set(-16.0f, 0.8f); body = _world.CreateBody(bd); body.CreateFixture(cd); body.SetMassFromShapes(); jr.Initialize(g, body, body.GetWorldCenter() + new Vec2(0.0f, 1.0f)); _world.CreateJoint(jr); // 5. bd.Position.Set(-8.0f, 0.5f); body = _world.CreateBody(bd); body.CreateFixture(cd); body.SetMassFromShapes(); jr.Initialize(g, body, body.GetWorldCenter() + new Vec2(0.0f, 1.0f)); _world.CreateJoint(jr); // 6. bd.Position.Set(0.0f, 0.1f); body = _world.CreateBody(bd); body.CreateFixture(cd); body.SetMassFromShapes(); jr.Initialize(g, body, body.GetWorldCenter() + new Vec2(0.0f, 1.0f)); _world.CreateJoint(jr); // 7. bd.Position.Set(8.0f, -0.5f); body = _world.CreateBody(bd); body.CreateFixture(cd); sd.SetAsBox(3.7f, 0.5f); body.CreateFixture(sd); body.SetMassFromShapes(); jr.Initialize(g, body, body.GetWorldCenter() + new Vec2(0.0f, 1.0f)); _world.CreateJoint(jr); // 8. right rotator sd.SetAsBox(5.0f, 0.5f); sd.Density = 2.0f; bd.Position.Set(18.0f, 1.0f); Body rightmotor = _world.CreateBody(bd); rightmotor.CreateFixture(sd); sd.SetAsBox(4.5f, 0.5f, new Vec2(0.0f, 0.0f), Box2DNet.Common.Settings.Pi / 3.0f); rightmotor.CreateFixture(sd); sd.SetAsBox(4.5f, 0.5f, new Vec2(0.0f, 0.0f), Box2DNet.Common.Settings.Pi * 2.0f / 3.0f); rightmotor.CreateFixture(sd); cd.Radius = 4.2f; rightmotor.CreateFixture(cd); rightmotor.SetMassFromShapes(); jr.Initialize(g, rightmotor, rightmotor.GetWorldCenter()); jr.MaxMotorTorque = 70000.0f; jr.MotorSpeed = -4.0f; _world.CreateJoint(jr); // 9. left rotator sd.SetAsBox(8.5f, 0.5f); sd.Density = 2.0f; bd.Position.Set(-34.0f, 17.0f); body = _world.CreateBody(bd); body.CreateFixture(sd); sd.SetAsBox(8.5f, 0.5f, new Vec2(0.0f, 0.0f), Box2DNet.Common.Settings.Pi * .5f); body.CreateFixture(sd); cd.Radius = 7.0f; cd.Friction = 0.9f; body.CreateFixture(cd); body.SetMassFromShapes(); jr.Initialize(g, body, body.GetWorldCenter()); jr.MaxMotorTorque = 100000.0f; jr.MotorSpeed = -5.0f; _world.CreateJoint(jr); // big compressor sd.SetAsBox(3.0f, 4.0f); sd.Density = 10.0f; bd.Position.Set(-16.0f, 17.0f); Body hammerleft = _world.CreateBody(bd); hammerleft.CreateFixture(sd); hammerleft.SetMassFromShapes(); DistanceJointDef jd = new DistanceJointDef(); jd.Initialize(body, hammerleft, body.GetWorldCenter() + new Vec2(0.0f, 6.0f), hammerleft.GetWorldCenter()); _world.CreateJoint(jd); bd.Position.Set(4.0f, 17.0f); Body hammerright = _world.CreateBody(bd); hammerright.CreateFixture(sd); hammerright.SetMassFromShapes(); jd.Initialize(body, hammerright, body.GetWorldCenter() - new Vec2(0.0f, 6.0f), hammerright.GetWorldCenter()); _world.CreateJoint(jd); // pusher sd.SetAsBox(6.0f, 0.75f); bd.Position.Set(-21.0f, 9.0f); Body pusher = _world.CreateBody(bd); pusher.CreateFixture(sd); sd.SetAsBox(2.0f, 1.5f, new Vec2(-5.0f, 0.0f), 0.0f); pusher.SetMassFromShapes(); pusher.CreateFixture(sd); jd.Initialize(rightmotor, pusher, rightmotor.GetWorldCenter() + new Vec2(-8.0f, 0.0f), pusher.GetWorldCenter() + new Vec2(5.0f, 0.0f)); _world.CreateJoint(jd); } // Static bodies above motors { PolygonDef sd = new PolygonDef(); CircleDef cd = new CircleDef(); sd.SetAsBox(9.0f, 0.5f); sd.Friction = 0.05f; sd.Restitution = 0.01f; BodyDef bd = new BodyDef(); bd.Position.Set(-15.5f, 12.0f); bd.Angle = 0.0f; Body g = _world.CreateBody(bd); g.CreateFixture(sd); sd.SetAsBox(8.0f, 0.5f, new Vec2(23.0f, 0.0f), 0.0f); g.CreateFixture(sd); // compressor statics sd.SetAsBox(7.0f, 0.5f, new Vec2(-2.0f, 9.0f), 0.0f); g.CreateFixture(sd); sd.SetAsBox(9.0f, 0.5f, new Vec2(22.0f, 9.0f), 0.0f); g.CreateFixture(sd); sd.SetAsBox(19.0f, 0.5f, new Vec2(-9.0f, 15.0f), -0.05f); g.CreateFixture(sd); sd.SetAsBox(4.7f, 0.5f, new Vec2(15.0f, 11.5f), -0.5f); g.CreateFixture(sd); // below compressor sd.SetAsBox(26.0f, 0.3f, new Vec2(17.0f, -4.4f), -0.02f); g.CreateFixture(sd); cd.Radius = 1.0f; cd.Friction = 1.0f; cd.LocalPosition = new Vec2(29.0f, -6.0f); g.CreateFixture(cd); cd.Radius = 0.7f; cd.LocalPosition = new Vec2(-2.0f, -4.5f); g.CreateFixture(cd); } // Elevator { BodyDef bd = new BodyDef(); CircleDef cd = new CircleDef(); PolygonDef sd = new PolygonDef(); bd.Position.Set(40.0f, 4.0f); _elev = _world.CreateBody(bd); sd.SetAsBox(0.5f, 2.5f, new Vec2(3.0f, -3.0f), 0.0f); sd.Density = 1.0f; sd.Friction = 0.01f; _elev.CreateFixture(sd); sd.SetAsBox(7.0f, 0.5f, new Vec2(-3.5f, -5.5f), 0.0f); _elev.CreateFixture(sd); sd.SetAsBox(0.5f, 2.5f, new Vec2(-11.0f, -3.5f), 0.0f); _elev.CreateFixture(sd); _elev.SetMassFromShapes(); PrismaticJointDef jp = new PrismaticJointDef(); jp.Initialize(_ground, _elev, bd.Position, new Vec2(0.0f, 1.0f)); jp.LowerTranslation = 0.0f; jp.UpperTranslation = 100.0f; jp.EnableLimit = true; jp.EnableMotor = true; jp.MaxMotorForce = 10000.0f; jp.MotorSpeed = 0.0f; _joint_elev = (PrismaticJoint)_world.CreateJoint(jp); // Korb sd.SetAsBox(2.3f, 0.5f, new Vec2(1.0f, 0.0f), 0.0f); sd.Density = 0.5f; bd.Position.Set(29.0f, 6.5f); Body body = _world.CreateBody(bd); body.CreateFixture(sd); sd.SetAsBox(2.5f, 0.5f, new Vec2(3.0f, -2.0f), Box2DNet.Common.Settings.Pi / 2.0f); body.CreateFixture(sd); sd.SetAsBox(4.6f, 0.5f, new Vec2(7.8f, -4.0f), 0.0f); body.CreateFixture(sd); sd.SetAsBox(0.5f, 4.5f, new Vec2(12.0f, 0.0f), 0.0f); body.CreateFixture(sd); sd.SetAsBox(0.5f, 0.5f, new Vec2(13.0f, 4.0f), 0.0f); body.CreateFixture(sd); cd.Radius = 0.7f; cd.Density = 1.0f; cd.Friction = 0.01f; cd.LocalPosition = new Vec2(0.0f, 0.0f); body.CreateFixture(cd); body.SetMassFromShapes(); RevoluteJointDef jr = new RevoluteJointDef(); jr.Initialize(_elev, body, bd.Position); jr.EnableLimit = true; jr.LowerAngle = -0.2f; jr.UpperAngle = Box2DNet.Common.Settings.Pi * 1.1f; jr.CollideConnected = true; _world.CreateJoint(jr); // upper body exit sd.SetAsBox(14.0f, 0.5f, new Vec2(-3.5f, -10.0f), 0.0f); bd.Position.Set(17.5f, 96.0f); body = _world.CreateBody(bd); body.CreateFixture(sd); } // "Elastic body" 64 bodies - something like a lin. elastic compound // connected via dynamic forces (springs) { PolygonDef sd = new PolygonDef(); sd.SetAsBox(0.55f, 0.55f); sd.Density = 1.5f; sd.Friction = 0.01f; sd.Filter.GroupIndex = -1; Vec2 startpoint = new Vec2(30.0f, 20.0f); BodyDef bd = new BodyDef(); bd.IsBullet = false; bd.AllowSleep = false; for (int i = 0; i < 8; ++i) { for (int j = 0; j < 8; ++j) { bd.Position.Set(j * 1.02f, 2.51f + 1.02f * i); bd.Position += startpoint; Body body = _world.CreateBody(bd); bodies[8 * i + j] = body; body.CreateFixture(sd); body.SetMassFromShapes(); } } } }
public BodyTypes() { Body ground; { var bd = new BodyDef(); ground = World.CreateBody(bd); var shape = new EdgeShape(); shape.Set(new Vector2(-20.0f, 0.0f), new Vector2(20.0f, 0.0f)); var fd = new FixtureDef(); fd.Shape = shape; ground.CreateFixture(fd); } // Define attachment { var bd = new BodyDef(); bd.BodyType = BodyType.DynamicBody; bd.Position.Set(0.0f, 3.0f); _attachment = World.CreateBody(bd); var shape = new PolygonShape(); shape.SetAsBox(0.5f, 2.0f); _attachment.CreateFixture(shape, 2.0f); } // Define platform { var bd = new BodyDef(); bd.BodyType = BodyType.DynamicBody; bd.Position.Set(-4.0f, 5.0f); _platform = World.CreateBody(bd); var shape = new PolygonShape(); shape.SetAsBox(0.5f, 4.0f, new Vector2(4.0f, 0.0f), 0.5f * Settings.Pi); var fd = new FixtureDef(); fd.Shape = shape; fd.Friction = 0.6f; fd.Density = 2.0f; _platform.CreateFixture(fd); var rjd = new RevoluteJointDef(); rjd.Initialize(_attachment, _platform, new Vector2(0.0f, 5.0f)); rjd.MaxMotorTorque = 50.0f; rjd.EnableMotor = true; World.CreateJoint(rjd); var pjd = new PrismaticJointDef(); pjd.Initialize(ground, _platform, new Vector2(0.0f, 5.0f), new Vector2(1.0f, 0.0f)); pjd.MaxMotorForce = 1000.0f; pjd.EnableMotor = true; pjd.LowerTranslation = -10.0f; pjd.UpperTranslation = 10.0f; pjd.EnableLimit = true; World.CreateJoint(pjd); _speed = 3.0f; } // Create a payload { var bd = new BodyDef(); bd.BodyType = BodyType.DynamicBody; bd.Position.Set(0.0f, 8.0f); var body = World.CreateBody(bd); var shape = new PolygonShape(); shape.SetAsBox(0.75f, 0.75f); var fd = new FixtureDef(); fd.Shape = shape; fd.Friction = 0.6f; fd.Density = 2.0f; body.CreateFixture(fd); } }
public BodyTypes() { Body ground = null; { BodyDef bd = new BodyDef(); ground = _world.CreateBody(bd); PolygonShape shape = new PolygonShape(); shape.SetAsEdge(new Vector2(-20.0f, 0.0f), new Vector2(20.0f, 0.0f)); FixtureDef fd = new FixtureDef(); fd.shape = shape; ground.CreateFixture(fd); } // Define attachment { BodyDef bd = new BodyDef(); bd.type = BodyType.Dynamic; bd.position = new Vector2(0.0f, 3.0f); _attachment = _world.CreateBody(bd); PolygonShape shape = new PolygonShape(); shape.SetAsBox(0.5f, 2.0f); _attachment.CreateFixture(shape, 2.0f); } // Define platform { BodyDef bd = new BodyDef(); bd.type = BodyType.Dynamic; bd.position = new Vector2(-4.0f, 5.0f); _platform = _world.CreateBody(bd); PolygonShape shape = new PolygonShape(); shape.SetAsBox(0.5f, 4.0f, new Vector2(4.0f, 0.0f), 0.5f * (float)Math.PI); FixtureDef fd = new FixtureDef(); fd.shape = shape; fd.friction = 0.6f; fd.density = 2.0f; _platform.CreateFixture(fd); RevoluteJointDef rjd = new RevoluteJointDef(); rjd.Initialize(_attachment, _platform, new Vector2(0.0f, 5.0f)); rjd.maxMotorTorque = 50.0f; rjd.enableMotor = true; _world.CreateJoint(rjd); PrismaticJointDef pjd = new PrismaticJointDef(); pjd.Initialize(ground, _platform, new Vector2(0.0f, 5.0f), new Vector2(1.0f, 0.0f)); pjd.maxMotorForce = 1000.0f; pjd.enableMotor = true; pjd.lowerTranslation = -10.0f; pjd.upperTranslation = 10.0f; pjd.enableLimit = true; _world.CreateJoint(pjd); _speed = 3.0f; } // Create a payload { BodyDef bd = new BodyDef(); bd.type = BodyType.Dynamic; bd.position = new Vector2(0.0f, 8.0f); Body body = _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; body.CreateFixture(fd); } }
public SliderCrank() { 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); } { Body prevBody = ground; // Define crank. { PolygonShape shape = new PolygonShape(); shape.SetAsBox(0.5f, 2.0f); shape.Density = 2; BodyDef bd = new BodyDef(); bd.type = BodyType._dynamicBody; bd.Position.Set(0.0f, 7.0f); Body body = m_world.CreateBody(bd); body.CreateFixture(shape); RevoluteJointDef rjd = new RevoluteJointDef(); rjd.Initialize(prevBody, body, new Vec2(0.0f, 5.0f)); rjd.motorSpeed = 1.0f * (float)Math.PI; rjd.maxMotorTorque = 10000.0f; rjd.enableMotor = true; m_joint1 = (RevoluteJoint)m_world.CreateJoint(rjd); prevBody = body; } // Define follower. { PolygonShape shape = new PolygonShape(); shape.SetAsBox(0.5f, 4.0f); shape.Density = 2; BodyDef bd = new BodyDef(); bd.type = BodyType._dynamicBody; bd.Position.Set(0.0f, 13.0f); Body body = m_world.CreateBody(bd); body.CreateFixture(shape); RevoluteJointDef rjd = new RevoluteJointDef(); rjd.Initialize(prevBody, body, new Vec2(0.0f, 9.0f)); rjd.enableMotor = false; m_world.CreateJoint(rjd); prevBody = body; } // Define piston { PolygonShape shape = new PolygonShape(); shape.SetAsBox(1.5f, 1.5f); shape.Density = 2; BodyDef bd = new BodyDef(); bd.type = BodyType._dynamicBody; bd.fixedRotation = true; bd.Position.Set(0.0f, 17.0f); Body body = m_world.CreateBody(bd); body.CreateFixture(shape); RevoluteJointDef rjd = new RevoluteJointDef(); rjd.Initialize(prevBody, body, new Vec2(0.0f, 17.0f)); m_world.CreateJoint(rjd); PrismaticJointDef pjd = new PrismaticJointDef(); pjd.Initialize(ground, body, new Vec2(0.0f, 17.0f), new Vec2(0.0f, 1.0f)); pjd.maxMotorForce = 1000.0f; pjd.enableMotor = true; m_joint2 = (PrismaticJoint)m_world.CreateJoint(pjd); } // Create a payload { PolygonShape shape = new PolygonShape(); shape.SetAsBox(1.5f, 1.5f); BodyDef bd = new BodyDef(); bd.type = BodyType._dynamicBody; bd.Position.Set(0.0f, 23.0f); Body body = m_world.CreateBody(bd); shape.Density = 2; body.CreateFixture(shape); } } }
public Gears() { Body ground = null; { BodyDef bd = new BodyDef(); ground = m_world.CreateBody(bd); PolygonShape shape = new PolygonShape(); shape.SetAsEdge(new Vec2(50.0f, 0.0f), new Vec2(-50.0f, 0.0f)); ground.CreateFixture(shape, 0.0f); } { CircleShape circle1 = new CircleShape(); circle1.Radius = 1.0f; CircleShape circle2 = new CircleShape(); circle2.Radius = 2.0f; PolygonShape box = new PolygonShape(); box.SetAsBox(0.5f, 5.0f); BodyDef bd1 = new BodyDef(); bd1.BodyType = BodyType.Dynamic; bd1.Position = new Vec2(-3.0f, 12.0f); Body body1 = m_world.CreateBody(bd1); body1.CreateFixture(circle1, 5.0f); RevoluteJointDef jd1 = new RevoluteJointDef(); jd1.BodyA = ground; jd1.BodyB = body1; jd1.LocalAnchorA = ground.GetLocalPoint(bd1.Position); jd1.LocalAnchorB = body1.GetLocalPoint(bd1.Position); jd1.ReferenceAngle = body1.Angle - ground.Angle; m_joint1 = (RevoluteJoint)m_world.CreateJoint(jd1); BodyDef bd2 = new BodyDef(); bd2.BodyType = BodyType.Dynamic; bd2.Position = new Vec2(0.0f, 12.0f); Body body2 = m_world.CreateBody(bd2); body2.CreateFixture(circle2, 5.0f); RevoluteJointDef jd2 = new RevoluteJointDef(); jd2.Initialize(ground, body2, bd2.Position); m_joint2 = (RevoluteJoint)m_world.CreateJoint(jd2); BodyDef bd3 = new BodyDef(); bd3.BodyType = BodyType.Dynamic; bd3.Position = new Vec2(2.5f, 12.0f); Body body3 = m_world.CreateBody(bd3); body3.CreateFixture(box, 5.0f); PrismaticJointDef jd3 = new PrismaticJointDef(); jd3.Initialize(ground, body3, bd3.Position, new Vec2(0.0f, 1.0f)); jd3.LowerTranslation = -5.0f; jd3.UpperTranslation = 5.0f; jd3.EnableLimit = true; m_joint3 = (PrismaticJoint)m_world.CreateJoint(jd3); GearJointDef jd4 = new GearJointDef(); jd4.BodyA = body1; jd4.BodyB = body2; jd4.JointA = m_joint1; jd4.JointB = m_joint2; jd4.Ratio = circle2.Radius / circle1.Radius; m_joint4 = (GearJoint)m_world.CreateJoint(jd4); GearJointDef jd5 = new GearJointDef(); jd5.BodyA = body2; jd5.BodyB = body3; jd5.JointA = m_joint2; jd5.JointB = m_joint3; jd5.Ratio = -1.0f / circle2.Radius; m_joint5 = (GearJoint)m_world.CreateJoint(jd5); } }
public SliderCrank() { Body ground; { var bd = new BodyDef(); ground = World.CreateBody(bd); var shape = new EdgeShape(); shape.SetTwoSided(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f)); ground.CreateFixture(shape, 0.0f); } { var prevBody = ground; // Define crank. { var shape = new PolygonShape(); shape.SetAsBox(0.5f, 2.0f); var bd = new BodyDef(); bd.BodyType = BodyType.DynamicBody; bd.Position = new Vector2(0.0f, 7.0f); var body = World.CreateBody(bd); body.CreateFixture(shape, 2.0f); var rjd = new RevoluteJointDef(); rjd.Initialize(prevBody, body, new Vector2(0.0f, 5.0f)); rjd.MotorSpeed = 1.0f * Settings.Pi; rjd.MaxMotorTorque = 10000.0f; rjd.EnableMotor = true; _joint1 = (RevoluteJoint)World.CreateJoint(rjd); prevBody = body; } // Define follower. { var shape = new PolygonShape(); shape.SetAsBox(0.5f, 4.0f); var bd = new BodyDef { BodyType = BodyType.DynamicBody, Position = new Vector2(0.0f, 13.0f) }; var body = World.CreateBody(bd); body.CreateFixture(shape, 2.0f); var rjd = new RevoluteJointDef(); rjd.Initialize(prevBody, body, new Vector2(0.0f, 9.0f)); rjd.EnableMotor = false; World.CreateJoint(rjd); prevBody = body; } // Define piston { var shape = new PolygonShape(); shape.SetAsBox(1.5f, 1.5f); var bd = new BodyDef { BodyType = BodyType.DynamicBody, FixedRotation = true, Position = new Vector2(0.0f, 17.0f) }; var body = World.CreateBody(bd); body.CreateFixture(shape, 2.0f); var rjd = new RevoluteJointDef(); rjd.Initialize(prevBody, body, new Vector2(0.0f, 17.0f)); World.CreateJoint(rjd); var pjd = new PrismaticJointDef(); pjd.Initialize(ground, body, new Vector2(0.0f, 17.0f), new Vector2(0.0f, 1.0f)); pjd.MaxMotorForce = 1000.0f; pjd.EnableMotor = true; _joint2 = (PrismaticJoint)World.CreateJoint(pjd); } // Create a payload { var shape = new PolygonShape(); shape.SetAsBox(1.5f, 1.5f); var bd = new BodyDef(); bd.BodyType = BodyType.DynamicBody; bd.Position = new Vector2(0.0f, 23.0f); var body = World.CreateBody(bd); body.CreateFixture(shape, 2.0f); } } }
private SliderCrank1Test() { Body ground; { BodyDef bd = new BodyDef(); bd.Position = new Vector2(0.0f, 17.0f); ground = BodyFactory.CreateFromDef(World, bd); } { Body prevBody = ground; // Define crank. { PolygonShape shape = new PolygonShape(2.0f); shape.SetAsBox(4.0f, 1.0f); BodyDef bd = new BodyDef(); bd.Type = BodyType.Dynamic; bd.Position = new Vector2(-8.0f, 20.0f); Body body = BodyFactory.CreateFromDef(World, bd); body.AddFixture(shape); RevoluteJointDef rjd = new RevoluteJointDef(); rjd.Initialize(prevBody, body, new Vector2(-12.0f, 20.0f)); JointFactory.CreateFromDef(World, rjd); prevBody = body; } // Define connecting rod { PolygonShape shape = new PolygonShape(2.0f); shape.SetAsBox(8.0f, 1.0f); BodyDef bd = new BodyDef(); bd.Type = BodyType.Dynamic; bd.Position = new Vector2(4.0f, 20.0f); Body body = BodyFactory.CreateFromDef(World, bd); body.AddFixture(shape); RevoluteJointDef rjd = new RevoluteJointDef(); rjd.Initialize(prevBody, body, new Vector2(-4.0f, 20.0f)); JointFactory.CreateFromDef(World, rjd); prevBody = body; } // Define piston { PolygonShape shape = new PolygonShape(2.0f); shape.SetAsBox(3.0f, 3.0f); BodyDef bd = new BodyDef(); bd.Type = BodyType.Dynamic; bd.FixedRotation = true; bd.Position = new Vector2(12.0f, 20.0f); Body body = BodyFactory.CreateFromDef(World, bd); body.AddFixture(shape); RevoluteJointDef rjd = new RevoluteJointDef(); rjd.Initialize(prevBody, body, new Vector2(12.0f, 20.0f)); JointFactory.CreateFromDef(World, rjd); PrismaticJointDef pjd = new PrismaticJointDef(); pjd.Initialize(ground, body, new Vector2(12.0f, 17.0f), new Vector2(1.0f, 0.0f)); JointFactory.CreateFromDef(World, pjd); } } }
public Gears() { Body ground = null; { BodyDef bd = new BodyDef(); ground = m_world.CreateBody(bd); EdgeShape shape = new EdgeShape(); shape.Set(new Vec2(50.0f, 0.0f), new Vec2(-50.0f, 0.0f)); shape.Density = 0; ground.CreateFixture(shape); } { CircleShape circle1 = new CircleShape(); circle1.m_radius = 1.0f; circle1.Density = 5; PolygonShape box = new PolygonShape(); box.SetAsBox(0.5f, 5.0f); box.Density = 5; CircleShape circle2 = new CircleShape(); circle2.m_radius = 2.0f; circle2.Density = 5; BodyDef bd1 = new BodyDef(); bd1.type = BodyType._staticBody; bd1.Position.Set(10.0f, 9.0f); Body body1 = m_world.CreateBody(bd1); body1.CreateFixture(circle1); BodyDef bd2 = new BodyDef(); bd2.type = BodyType._dynamicBody; bd2.Position.Set(10.0f, 8.0f); Body body2 = m_world.CreateBody(bd2); body2.CreateFixture(box); BodyDef bd3 = new BodyDef(); bd3.type = BodyType._dynamicBody; bd3.Position.Set(10.0f, 6.0f); Body body3 = m_world.CreateBody(bd3); body3.CreateFixture(circle2); RevoluteJointDef jd1 = new RevoluteJointDef(); jd1.Initialize(body2, body1, bd1.Position); Joint joint1 = m_world.CreateJoint(jd1); RevoluteJointDef jd2 = new RevoluteJointDef(); jd2.Initialize(body2, body3, bd3.Position); Joint joint2 = m_world.CreateJoint(jd2); GearJointDef jd4 = new GearJointDef(); jd4.bodyA = body1; jd4.bodyB = body3; jd4.joint1 = joint1; jd4.joint2 = joint2; jd4.ratio = circle2.m_radius / circle1.m_radius; m_world.CreateJoint(jd4); } { CircleShape circle1 = new CircleShape(); circle1.m_radius = 1.0f; circle1.Density = 5; CircleShape circle2 = new CircleShape(); circle2.m_radius = 2.0f; circle2.Density = 5; PolygonShape box = new PolygonShape(); box.SetAsBox(0.5f, 5.0f); BodyDef bd1 = new BodyDef(); bd1.type = BodyType._dynamicBody; bd1.Position.Set(-3.0f, 12.0f); Body body1 = m_world.CreateBody(bd1); body1.CreateFixture(circle1); RevoluteJointDef jd1 = new RevoluteJointDef(); jd1.bodyA = ground; jd1.bodyB = body1; jd1.localAnchorA = ground.GetLocalPoint(bd1.Position); jd1.localAnchorB = body1.GetLocalPoint(bd1.Position); jd1.referenceAngle = body1.GetAngle() - ground.GetAngle(); m_joint1 = (RevoluteJoint)m_world.CreateJoint(jd1); BodyDef bd2 = new BodyDef(); bd2.type = BodyType._dynamicBody; bd2.Position.Set(0.0f, 12.0f); Body body2 = m_world.CreateBody(bd2); body2.CreateFixture(circle2); RevoluteJointDef jd2 = new RevoluteJointDef(); jd2.Initialize(ground, body2, bd2.Position); m_joint2 = (RevoluteJoint)m_world.CreateJoint(jd2); BodyDef bd3 = new BodyDef(); bd3.type = BodyType._dynamicBody; bd3.Position.Set(2.5f, 12.0f); Body body3 = m_world.CreateBody(bd3); box.Density = 5; body3.CreateFixture(box); PrismaticJointDef jd3 = new PrismaticJointDef(); jd3.Initialize(ground, body3, bd3.Position, new Vec2(0.0f, 1.0f)); jd3.lowerTranslation = -5.0f; jd3.upperTranslation = 5.0f; jd3.enableLimit = true; m_joint3 = (PrismaticJoint)m_world.CreateJoint(jd3); GearJointDef jd4 = new GearJointDef(); jd4.bodyA = body1; jd4.bodyB = body2; jd4.joint1 = m_joint1; jd4.joint2 = m_joint2; jd4.ratio = circle2.m_radius / circle1.m_radius; m_joint4 = (GearJoint)m_world.CreateJoint(jd4); GearJointDef jd5 = new GearJointDef(); jd5.bodyA = body2; jd5.bodyB = body3; jd5.joint1 = m_joint2; jd5.joint2 = m_joint3; jd5.ratio = -1.0f / circle2.m_radius; m_joint5 = (GearJoint)m_world.CreateJoint(jd5); } }
public Gears() { Body ground = null; { BodyDef bd = new BodyDef(); bd.Position.Set(0.0f, -10.0f); ground = _world.CreateBody(bd); PolygonDef sd = new PolygonDef(); sd.SetAsBox(50.0f, 10.0f); ground.CreateShape(sd); } { CircleDef circle1 = new CircleDef(); circle1.Radius = 1.0f; circle1.Density = 5.0f; CircleDef circle2 = new CircleDef(); circle2.Radius = 2.0f; circle2.Density = 5.0f; PolygonDef box = new PolygonDef(); box.SetAsBox(0.5f, 5.0f); box.Density = 5.0f; BodyDef bd1 = new BodyDef(); bd1.Position.Set(-3.0f, 12.0f); Body body1 = _world.CreateBody(bd1); body1.CreateShape(circle1); body1.SetMassFromShapes(); RevoluteJointDef jd1 = new RevoluteJointDef(); jd1.Body1 = ground; jd1.Body2 = body1; jd1.LocalAnchor1 = ground.GetLocalPoint(bd1.Position); jd1.LocalAnchor2 = body1.GetLocalPoint(bd1.Position); jd1.ReferenceAngle = body1.GetAngle() - ground.GetAngle(); _joint1 = (RevoluteJoint)_world.CreateJoint(jd1); BodyDef bd2 = new BodyDef(); bd2.Position.Set(0.0f, 12.0f); Body body2 = _world.CreateBody(bd2); body2.CreateShape(circle2); body2.SetMassFromShapes(); RevoluteJointDef jd2 = new RevoluteJointDef(); jd2.Initialize(ground, body2, bd2.Position); _joint2 = (RevoluteJoint)_world.CreateJoint(jd2); BodyDef bd3 = new BodyDef(); bd3.Position.Set(2.5f, 12.0f); Body body3 = _world.CreateBody(bd3); body3.CreateShape(box); body3.SetMassFromShapes(); PrismaticJointDef jd3 = new PrismaticJointDef(); jd3.Initialize(ground, body3, bd3.Position, new Vec2(0.0f, 1.0f)); jd3.LowerTranslation = -5.0f; jd3.UpperTranslation = 5.0f; jd3.EnableLimit = true; _joint3 = (PrismaticJoint)_world.CreateJoint(jd3); GearJointDef jd4 = new GearJointDef(); jd4.Body1 = body1; jd4.Body2 = body2; jd4.Joint1 = _joint1; jd4.Joint2 = _joint2; jd4.Ratio = circle2.Radius / circle1.Radius; _joint4 = (GearJoint)_world.CreateJoint(jd4); GearJointDef jd5 = new GearJointDef(); jd5.Body1 = body2; jd5.Body2 = body3; jd5.Joint1 = _joint2; jd5.Joint2 = _joint3; jd5.Ratio = -1.0f / circle2.Radius; _joint5 = (GearJoint)_world.CreateJoint(jd5); } }
/// <summary> /// Creates a new motorcycle and a driver into the given Box2D world. /// Creates all the parts of the motorcycle and driver and joints them together. /// </summary> /// <param name="pBikeSpeed">A pointer to the variable that describes the speed of the /// motorcycle</param> /// <param name="pRotationData">RotationData to provide the information of the rotation /// of the device</param> /// <param name="pWorld">The Box2D world where the bike is created into</param> /// <param name="pCamPos">A pointer to the variable that describes the position of the /// camera</param> /// <param name="pContent">The used ContentManager instance</param> /// <param name="pSpriteBatch">The used SpriteBatch instance</param> public Bike(float [] pBikeSpeed, RotationData pRotationData, World pWorld, float[] pCamPos, ContentManager pContent) { OffTheBike = false; camPos = pCamPos; world = pWorld; content = pContent; RotationData = pRotationData; bikeSpeed = pBikeSpeed; frontWheel = CreateCirclePart("wheel", frontWheelInitPos, 35.0f, 0, 0.1f, 0.9f, 0.2f); frontFork = CreateBoxPart("susp_lower_long", frontForkInitPos, 20.53f, 21.33f, 0, 0.8f, 1.0f, 0.2f); rearWheel = CreateCirclePart("rearWheel", rearWheelInitPos, 32.0f, 0, 0.4f, 1.0f, 0.2f); rearFork = CreateBoxPart("rearFork", rearForkInitPos, 64.0f, 17.0f, rearForkInitRot, 0.5f, 1.0f, 0.2f); bikeBody = CreateBikeBody(bikeBodyInitPos, bikeBodyInitRot, 0.5f, 1.0f, 0.2f); RevoluteJointDef motorDef = new RevoluteJointDef(); motorDef.Initialize(rearWheel, rearFork, rearWheel.GetWorldCenter()); motorDef.maxMotorTorque = 2.0f; motorDef.enableMotor = true; motor = (RevoluteJoint)world.CreateJoint(motorDef); RevoluteJointDef rearForkBodyDef = new RevoluteJointDef(); Vector2 anchor = rearFork.GetWorldCenter(); anchor.X += (32.0f / Level.FACTOR); anchor.Y += (13.5f / Level.FACTOR); rearForkBodyDef.Initialize(rearFork, bikeBody, anchor); rearForkBodyDef.bodyA = rearFork; rearForkBodyDef.bodyB = bikeBody; rearForkBodyDef.maxMotorTorque = 300.0f; world.CreateJoint(rearForkBodyDef); RevoluteJointDef frontWheelJointDef = new RevoluteJointDef(); frontWheelJointDef.Initialize(frontWheel, frontFork, frontWheel.GetWorldCenter()); frontWheelJointDef.maxMotorTorque = 300.0f; world.CreateJoint(frontWheelJointDef); DistanceJointDef frontSuspToBikeDef = new DistanceJointDef(); frontSuspToBikeDef.Initialize(bikeBody, frontFork, frontFork.GetWorldCenter() + new Vector2(0, 0.4f), frontFork.GetWorldCenter()); frontSuspToBikeDef.frequencyHz = 4.0f; frontSuspToBikeDef.dampingRatio = 0.1f; frontSuspToBikeDef.collideConnected = true; world.CreateJoint(frontSuspToBikeDef); DistanceJointDef rearForkDistanceDef = new DistanceJointDef(); rearForkDistanceDef.Initialize(bikeBody, rearFork, rearFork.GetWorldCenter() + new Vector2(0, 0.4f), rearFork.GetWorldCenter()); rearForkDistanceDef.frequencyHz = 7.0f; rearForkDistanceDef.dampingRatio = 0.1f; rearForkDistanceDef.collideConnected = true; world.CreateJoint(rearForkDistanceDef); PrismaticJointDef fSuspBikePrismaticDef = new PrismaticJointDef(); fSuspBikePrismaticDef.Initialize(bikeBody, frontFork, bikeBody.GetWorldCenter(), new Vector2(0, 1)); fSuspBikePrismaticDef.enableLimit = true; fSuspBikePrismaticDef.lowerTranslation = -0.2f; fSuspBikePrismaticDef.upperTranslation = 0.2f; fSuspBikePrismaticDef.collideConnected = true; world.CreateJoint(fSuspBikePrismaticDef); humanBody = CreateBoxPart("human", humanBodyInitPos, 17.0f, 64.0f, 0, 0.1f, 1.0f, 0.2f); head = CreateBoxPart("head", headInitPos, 38.4f, 29.9f, headInitRot, 0.1f, 1.0f, 0.2f); hand = CreateBoxPart("hand", handInitPos, 34.13f, 8.53f, handInitRot, 0.1f, 1.0f, 0.2f); arm = CreateBoxPart("arm", armInitPos, 42.67f, 8.53f, armInitRot, 0.1f, 1.0f, 0.2f); WeldJointDef headToHumanDef = new WeldJointDef(); headToHumanDef.Initialize(head, humanBody, head.GetWorldCenter()); world.CreateJoint(headToHumanDef); RevoluteJointDef humanToBikeDef = new RevoluteJointDef(); anchor = humanBody.GetWorldCenter(); anchor.Y += (30.0f / Level.FACTOR); humanToBikeDef.Initialize(humanBody, bikeBody, anchor); humanToBikeDef.maxMotorTorque = 300.0f; humanToBike = world.CreateJoint(humanToBikeDef); RevoluteJointDef humanToArmDef = new RevoluteJointDef(); anchor = arm.GetWorldPoint(new Vector2(-21.33f / Level.FACTOR, 4.26f / Level.FACTOR)); humanToArmDef.Initialize(humanBody, arm, anchor); humanToArmDef.maxMotorTorque = 300.0f; world.CreateJoint(humanToArmDef); RevoluteJointDef armToHandDef = new RevoluteJointDef(); anchor = arm.GetWorldPoint(new Vector2(21.33f / Level.FACTOR, 4.26f / Level.FACTOR)); armToHandDef.Initialize(arm, hand, anchor); armToHandDef.maxMotorTorque = 300.0f; world.CreateJoint(armToHandDef); RevoluteJointDef handToBikeDef = new RevoluteJointDef(); anchor = hand.GetWorldPoint(new Vector2(17.06f / Level.FACTOR, 4.26f / Level.FACTOR)); handToBikeDef.Initialize(hand, bikeBody, anchor); handToBikeDef.maxMotorTorque = 300.0f; handToBike = world.CreateJoint(handToBikeDef); DistanceJointDef armToBikeDef = new DistanceJointDef(); armToBikeDef.Initialize(hand, bikeBody, hand.GetWorldPoint(new Vector2(-17.00f / Level.FACTOR, 4.26f / Level.FACTOR)), bikeBody.GetWorldCenter()); armToBikeDef.length = 40.0f / Level.FACTOR; armToBikeDef.frequencyHz = 10.0f; armToBikeDef.dampingRatio = 1.0f; armToBikeDef.collideConnected = true; armToBike = world.CreateJoint(armToBikeDef); }
public SliderCrank1() { Body ground; { var bd = new BodyDef { Position = new Vector2(0.0f, 17.0f) }; ground = World.CreateBody(bd); } { var prevBody = ground; // Define crank. { var shape = new PolygonShape(); shape.SetAsBox(4.0f, 1.0f); var bd = new BodyDef { BodyType = BodyType.DynamicBody, Position = new Vector2(-8.0f, 20.0f) }; var body = World.CreateBody(bd); body.CreateFixture(shape, 2.0f); var rjd = new RevoluteJointDef(); rjd.Initialize(prevBody, body, new Vector2(-12.0f, 20.0f)); World.CreateJoint(rjd); prevBody = body; } // Define connecting rod { var shape = new PolygonShape(); shape.SetAsBox(8.0f, 1.0f); var bd = new BodyDef { BodyType = BodyType.DynamicBody, Position = new Vector2(4.0f, 20.0f) }; var body = World.CreateBody(bd); body.CreateFixture(shape, 2.0f); var rjd = new RevoluteJointDef(); rjd.Initialize(prevBody, body, new Vector2(-4.0f, 20.0f)); World.CreateJoint(rjd); prevBody = body; } // Define piston { var shape = new PolygonShape(); shape.SetAsBox(3.0f, 3.0f); var bd = new BodyDef { BodyType = BodyType.DynamicBody, FixedRotation = true, Position = new Vector2(12.0f, 20.0f) }; var body = World.CreateBody(bd); body.CreateFixture(shape, 2.0f); var rjd = new RevoluteJointDef(); rjd.Initialize(prevBody, body, new Vector2(12.0f, 20.0f)); World.CreateJoint(rjd); var pjd = new PrismaticJointDef(); pjd.Initialize(ground, body, new Vector2(12.0f, 17.0f), new Vector2(1.0f, 0.0f)); World.CreateJoint(pjd); } } }