internal b2PrismaticJoint(b2PrismaticJointDef def) : base(def)
{
m_localAnchorA = def.localAnchorA;
m_localAnchorB = def.localAnchorB;
m_localXAxisA = def.localAxisA;
m_localXAxisA.Normalize();
m_localYAxisA = Utils.b2Cross(1.0f, m_localXAxisA);
m_referenceAngle = def.referenceAngle;
m_impulse.SetZero();
m_motorMass = 0.0f;
m_motorImpulse = 0.0f;
m_lowerTranslation = def.lowerTranslation;
m_upperTranslation = def.upperTranslation;
m_maxMotorForce = def.maxMotorForce;
m_motorSpeed = def.motorSpeed;
m_enableLimit = def.enableLimit;
m_enableMotor = def.enableMotor;
m_limitState = b2LimitState.e_inactiveLimit;
m_axis.SetZero();
m_perp.SetZero();
}
public Prismatic()
{
b2Body ground = null;
{
b2BodyDef bd = new b2BodyDef();
ground = m_world.CreateBody(bd);
b2EdgeShape shape = new b2EdgeShape();
shape.Set(new b2Vec2(-40.0f, 0.0f), new b2Vec2(40.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
{
b2PolygonShape shape = new b2PolygonShape();
shape.SetAsBox(2.0f, 0.5f);
b2BodyDef bd = new b2BodyDef();
bd.type = b2BodyType.b2_dynamicBody;
bd.position.Set(-10.0f, 10.0f);
bd.angle = 0.5f * b2Settings.b2_pi;
bd.allowSleep = false;
b2Body body = m_world.CreateBody(bd);
body.CreateFixture(shape, 5.0f);
b2PrismaticJointDef pjd = new b2PrismaticJointDef();
// Bouncy limit
b2Vec2 axis = new b2Vec2(2.0f, 1.0f);
axis.Normalize();
pjd.Initialize(ground, body, new b2Vec2(0.0f, 0.0f), axis);
// Non-bouncy limit
//pjd.Initialize(ground, body, b2Vec2(-10.0f, 10.0f), b2Vec2(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 = (b2PrismaticJoint)m_world.CreateJoint(pjd);
}
}
public Gears()
{
b2Body ground = null;
{
b2BodyDef bd = new b2BodyDef();
ground = m_world.CreateBody(bd);
b2EdgeShape shape = new b2EdgeShape();
shape.Set(new b2Vec2(50.0f, 0.0f), new b2Vec2(-50.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
// Gears co
{
b2CircleShape circle1 = new b2CircleShape();
circle1.Radius = 1.0f;
b2PolygonShape box = new b2PolygonShape();
box.SetAsBox(0.5f, 5.0f);
b2CircleShape circle2 = new b2CircleShape();
circle2.Radius = 2.0f;
b2BodyDef bd1 = new b2BodyDef();
bd1.type = b2BodyType.b2_staticBody;
bd1.position.Set(10.0f, 9.0f);
b2Body body1 = m_world.CreateBody(bd1);
body1.CreateFixture(circle1, 0.0f);
b2BodyDef bd2 = new b2BodyDef();
bd2.type = b2BodyType.b2_dynamicBody;
bd2.position.Set(10.0f, 8.0f);
b2Body body2 = m_world.CreateBody(bd2);
body2.CreateFixture(box, 5.0f);
b2BodyDef bd3 = new b2BodyDef();
bd3.type = b2BodyType.b2_dynamicBody;
bd3.position.Set(10.0f, 6.0f);
b2Body body3 = m_world.CreateBody(bd3);
body3.CreateFixture(circle2, 5.0f);
b2RevoluteJointDef jd1 = new b2RevoluteJointDef();
jd1.Initialize(body2, body1, bd1.position);
b2Joint joint1 = m_world.CreateJoint(jd1);
b2RevoluteJointDef jd2 = new b2RevoluteJointDef();
jd2.Initialize(body2, body3, bd3.position);
b2Joint joint2 = m_world.CreateJoint(jd2);
b2GearJointDef jd4 = new b2GearJointDef();
jd4.BodyA = body1;
jd4.BodyB = body3;
jd4.joint1 = joint1;
jd4.joint2 = joint2;
jd4.ratio = circle2.Radius / circle1.Radius;
m_world.CreateJoint(jd4);
}
{
b2CircleShape circle1 = new b2CircleShape();
circle1.Radius = 1.0f;
b2CircleShape circle2 = new b2CircleShape();
circle2.Radius = 2.0f;
b2PolygonShape box = new b2PolygonShape();
box.SetAsBox(0.5f, 5.0f);
b2BodyDef bd1 = new b2BodyDef();
bd1.type = b2BodyType.b2_dynamicBody;
bd1.position.Set(-3.0f, 12.0f);
b2Body body1 = m_world.CreateBody(bd1);
body1.CreateFixture(circle1, 5.0f);
b2RevoluteJointDef jd1 = new b2RevoluteJointDef();
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 = (b2RevoluteJoint)m_world.CreateJoint(jd1);
b2BodyDef bd2 = new b2BodyDef();
bd2.type = b2BodyType.b2_dynamicBody;
bd2.position.Set(0.0f, 12.0f);
b2Body body2 = m_world.CreateBody(bd2);
body2.CreateFixture(circle2, 5.0f);
b2RevoluteJointDef jd2 = new b2RevoluteJointDef();
jd2.Initialize(ground, body2, bd2.position);
m_joint2 = (b2RevoluteJoint)m_world.CreateJoint(jd2);
b2BodyDef bd3 = new b2BodyDef();
bd3.type = b2BodyType.b2_dynamicBody;
bd3.position.Set(2.5f, 12.0f);
b2Body body3 = m_world.CreateBody(bd3);
body3.CreateFixture(box, 5.0f);
b2PrismaticJointDef jd3 = new b2PrismaticJointDef();
jd3.Initialize(ground, body3, bd3.position, new b2Vec2(0.0f, 1.0f));
jd3.lowerTranslation = -5.0f;
jd3.upperTranslation = 5.0f;
jd3.enableLimit = true;
m_joint3 = (b2PrismaticJoint)m_world.CreateJoint(jd3);
b2GearJointDef jd4 = new b2GearJointDef();
jd4.BodyA = body1;
jd4.BodyB = body2;
jd4.joint1 = m_joint1;
jd4.joint2 = m_joint2;
jd4.ratio = circle2.Radius / circle1.Radius;
m_joint4 = (b2GearJoint)m_world.CreateJoint(jd4);
b2GearJointDef jd5 = new b2GearJointDef();
jd5.BodyA = body2;
jd5.BodyB = body3;
jd5.joint1 = m_joint2;
jd5.joint2 = m_joint3;
jd5.ratio = -1.0f / circle2.Radius;
m_joint5 = (b2GearJoint)m_world.CreateJoint(jd5);
}
}
public CollisionFiltering()
{
// Ground body
{
b2EdgeShape shape = new b2EdgeShape();
shape.Set(new b2Vec2(-40.0f, 0.0f), new b2Vec2(40.0f, 0.0f));
b2FixtureDef sd = new b2FixtureDef();
sd.shape = shape;
sd.friction = 0.3f;
b2BodyDef bd = new b2BodyDef();
b2Body ground = m_world.CreateBody(bd);
ground.CreateFixture(sd);
}
// Small triangle
b2Vec2[] vertices = new b2Vec2[3];
vertices[0].Set(-1.0f, 0.0f);
vertices[1].Set(1.0f, 0.0f);
vertices[2].Set(0.0f, 2.0f);
b2PolygonShape polygon = new b2PolygonShape();
polygon.Set(vertices, 3);
b2FixtureDef triangleShapeDef = new b2FixtureDef();
triangleShapeDef.shape = polygon;
triangleShapeDef.density = 1.0f;
triangleShapeDef.filter.groupIndex = k_smallGroup;
triangleShapeDef.filter.categoryBits = k_triangleCategory;
triangleShapeDef.filter.maskBits = k_triangleMask;
b2BodyDef triangleBodyDef = new b2BodyDef();
triangleBodyDef.type = b2BodyType.b2_dynamicBody;
triangleBodyDef.position.Set(-5.0f, 2.0f);
b2Body body1 = m_world.CreateBody(triangleBodyDef);
body1.CreateFixture(triangleShapeDef);
// Large triangle (recycle definitions)
vertices[0] *= 2.0f;
vertices[1] *= 2.0f;
vertices[2] *= 2.0f;
polygon.Set(vertices, 3);
triangleShapeDef.filter.groupIndex = k_largeGroup;
triangleBodyDef.position.Set(-5.0f, 6.0f);
triangleBodyDef.fixedRotation = true; // look at me!
b2Body body2 = m_world.CreateBody(triangleBodyDef);
body2.CreateFixture(triangleShapeDef);
{
b2BodyDef bd = new b2BodyDef();
bd.type = b2BodyType.b2_dynamicBody;
bd.position.Set(-5.0f, 10.0f);
b2Body body = m_world.CreateBody(bd);
b2PolygonShape p = new b2PolygonShape();
p.SetAsBox(0.5f, 1.0f);
body.CreateFixture(p, 1.0f);
b2PrismaticJointDef jd = new b2PrismaticJointDef();
jd.BodyA = body2;
jd.BodyB = body;
jd.enableLimit = true;
jd.localAnchorA.Set(0.0f, 4.0f);
jd.localAnchorB.SetZero();
jd.localAxisA.Set(0.0f, 1.0f);
jd.lowerTranslation = -1.0f;
jd.upperTranslation = 1.0f;
m_world.CreateJoint(jd);
}
// Small box
polygon.SetAsBox(1.0f, 0.5f);
b2FixtureDef boxShapeDef = new b2FixtureDef();
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;
b2BodyDef boxBodyDef = new b2BodyDef();
boxBodyDef.type = b2BodyType.b2_dynamicBody;
boxBodyDef.position.Set(0.0f, 2.0f);
b2Body body3 = m_world.CreateBody(boxBodyDef);
body3.CreateFixture(boxShapeDef);
// Large box (recycle definitions)
polygon.SetAsBox(2.0f, 1.0f);
boxShapeDef.filter.groupIndex = k_largeGroup;
boxBodyDef.position.Set(0.0f, 6.0f);
b2Body body4 = m_world.CreateBody(boxBodyDef);
body4.CreateFixture(boxShapeDef);
// Small circle
b2CircleShape circle = new b2CircleShape();
circle.Radius = 1.0f;
b2FixtureDef circleShapeDef = new b2FixtureDef();
circleShapeDef.shape = circle;
circleShapeDef.density = 1.0f;
circleShapeDef.filter.groupIndex = k_smallGroup;
circleShapeDef.filter.categoryBits = k_circleCategory;
circleShapeDef.filter.maskBits = k_circleMask;
b2BodyDef circleBodyDef = new b2BodyDef();
circleBodyDef.type = b2BodyType.b2_dynamicBody;
circleBodyDef.position.Set(5.0f, 2.0f);
b2Body body5 = m_world.CreateBody(circleBodyDef);
body5.CreateFixture(circleShapeDef);
// Large circle
circle.Radius = circle.Radius * 2.0f;
circleShapeDef.filter.groupIndex = k_largeGroup;
circleBodyDef.position.Set(5.0f, 6.0f);
b2Body body6 = m_world.CreateBody(circleBodyDef);
body6.CreateFixture(circleShapeDef);
}
public DumpShell()
{
b2Vec2 g = new b2Vec2(0.000000000000000e+00f, 0.000000000000000e+00f);
m_world.Gravity = g;
b2Body[] bodies = new b2Body[3];
b2Joint[] joints = new b2Joint[2];
{
b2BodyDef bd = new b2BodyDef();
bd.type = b2BodyType.b2_dynamicBody;
bd.position.Set(1.304347801208496e+01f, 2.500000000000000e+00f);
bd.angle = 0.000000000000000e+00f;
bd.linearVelocity.Set(0.000000000000000e+00f, 0.000000000000000e+00f);
bd.angularVelocity = 0.000000000000000e+00f;
bd.linearDamping = 5.000000000000000e-01f;
bd.angularDamping = 5.000000000000000e-01f;
bd.allowSleep = true;
bd.awake = true;
bd.fixedRotation = false;
bd.bullet = false;
bd.active = true;
bd.gravityScale = 1.000000000000000e+00f;
bodies[0] = m_world.CreateBody(bd);
{
b2FixtureDef fd = new b2FixtureDef();
fd.friction = 1.000000000000000e+00f;
fd.restitution = 5.000000000000000e-01f;
fd.density = 1.000000000000000e+01f;
fd.isSensor = false;
fd.filter.categoryBits = 1;
fd.filter.maskBits = 65535;
fd.filter.groupIndex = 0;
b2PolygonShape shape = new b2PolygonShape();
b2Vec2[] vs = new b2Vec2[8];
vs[0].Set(-6.900000095367432e+00f, -3.000000119209290e-01f);
vs[1].Set(2.000000029802322e-01f, -3.000000119209290e-01f);
vs[2].Set(2.000000029802322e-01f, 2.000000029802322e-01f);
vs[3].Set(-6.900000095367432e+00f, 2.000000029802322e-01f);
shape.Set(vs, 4);
fd.shape = shape;
bodies[0].CreateFixture(fd);
}
}
{
b2BodyDef bd = new b2BodyDef();
bd.type = b2BodyType.b2_dynamicBody;
bd.position.Set(8.478260636329651e-01f, 2.500000000000000e+00f);
bd.angle = 0.000000000000000e+00f;
bd.linearVelocity.Set(0.000000000000000e+00f, 0.000000000000000e+00f);
bd.angularVelocity = 0.000000000000000e+00f;
bd.linearDamping = 5.000000000000000e-01f;
bd.angularDamping = 5.000000000000000e-01f;
bd.allowSleep = true;
bd.awake = true;
bd.fixedRotation = false;
bd.bullet = false;
bd.active = true;
bd.gravityScale = 1.000000000000000e+00f;
bodies[1] = m_world.CreateBody(bd);
{
b2FixtureDef fd = new b2FixtureDef();
fd.friction = 1.000000000000000e+00f;
fd.restitution = 5.000000000000000e-01f;
fd.density = 1.000000000000000e+01f;
fd.isSensor = false;
fd.filter.categoryBits = 1;
fd.filter.maskBits = 65535;
fd.filter.groupIndex = 0;
b2PolygonShape shape = new b2PolygonShape();
b2Vec2[] vs = new b2Vec2[8];
vs[0].Set(-3.228000104427338e-01f, -2.957000136375427e-01f);
vs[1].Set(6.885900020599365e+00f, -3.641000092029572e-01f);
vs[2].Set(6.907599925994873e+00f, 3.271999955177307e-01f);
vs[3].Set(-3.228000104427338e-01f, 2.825999855995178e-01f);
shape.Set(vs, 4);
fd.shape = shape;
bodies[1].CreateFixture(fd);
}
}
{
b2BodyDef bd = new b2BodyDef();
bd.type = b2BodyType.b2_staticBody;
bd.position.Set(0.000000000000000e+00f, 0.000000000000000e+00f);
bd.angle = 0.000000000000000e+00f;
bd.linearVelocity.Set(0.000000000000000e+00f, 0.000000000000000e+00f);
bd.angularVelocity = 0.000000000000000e+00f;
bd.linearDamping = 0.000000000000000e+00f;
bd.angularDamping = 0.000000000000000e+00f;
bd.allowSleep = true;
bd.awake = true;
bd.fixedRotation = false;
bd.bullet = false;
bd.active = true;
bd.gravityScale = 1.000000000000000e+00f;
bodies[2] = m_world.CreateBody(bd);
{
b2FixtureDef fd = new b2FixtureDef();
fd.friction = 1.000000000000000e+01f;
fd.restitution = 0.000000000000000e+00f;
fd.density = 0.000000000000000e+00f;
fd.isSensor = false;
fd.filter.categoryBits = 1;
fd.filter.maskBits = 65535;
fd.filter.groupIndex = 0;
b2EdgeShape shape = new b2EdgeShape();
shape.Radius = 9.999999776482582e-03f;
shape.Vertex0 = new b2Vec2(0.000000000000000e+00f, 0.000000000000000e+00f);
shape.Vertex1 = new b2Vec2(4.452173995971680e+01f, 1.669565200805664e+01f);
shape.Vertex2 = new b2Vec2(4.452173995971680e+01f, 0.000000000000000e+00f);
shape.Vertex3 = new b2Vec2(0.000000000000000e+00f, 0.000000000000000e+00f);
shape.HasVertex0 = false;
shape.HasVertex3 = false;
fd.shape = shape;
bodies[2].CreateFixture(fd);
}
{
b2FixtureDef fd = new b2FixtureDef();
fd.friction = 1.000000000000000e+01f;
fd.restitution = 0.000000000000000e+00f;
fd.density = 0.000000000000000e+00f;
fd.isSensor = false;
fd.filter.categoryBits = 1;
fd.filter.maskBits = 65535;
fd.filter.groupIndex = 0;
b2EdgeShape shape = new b2EdgeShape();
shape.Radius = 9.999999776482582e-03f;
shape.Vertex0 = new b2Vec2(0.000000000000000e+00f, 0.000000000000000e+00f);
shape.Vertex1 = new b2Vec2(0.000000000000000e+00f, 1.669565200805664e+01f);
shape.Vertex2 = new b2Vec2(0.000000000000000e+00f, 0.000000000000000e+00f);
shape.Vertex3 = new b2Vec2(0.000000000000000e+00f, 0.000000000000000e+00f);
shape.HasVertex0 = false;
shape.HasVertex3 = false;
fd.shape = shape;
bodies[2].CreateFixture(fd);
}
{
b2FixtureDef fd = new b2FixtureDef();
fd.friction = 1.000000000000000e+01f;
fd.restitution = 0.000000000000000e+00f;
fd.density = 0.000000000000000e+00f;
fd.isSensor = false;
fd.filter.categoryBits = 1;
fd.filter.maskBits = 65535;
fd.filter.groupIndex = 0;
b2EdgeShape shape = new b2EdgeShape();
shape.Radius = 9.999999776482582e-03f;
shape.Vertex0 = new b2Vec2(0.000000000000000e+00f, 0.000000000000000e+00f);
shape.Vertex1 = new b2Vec2(0.000000000000000e+00f, 1.669565200805664e+01f);
shape.Vertex2 = new b2Vec2(4.452173995971680e+01f, 1.669565200805664e+01f);
shape.Vertex3 = new b2Vec2(0.000000000000000e+00f, 0.000000000000000e+00f);
shape.HasVertex0 = false;
shape.HasVertex3 = false;
fd.shape = shape;
bodies[2].CreateFixture(fd);
}
{
b2FixtureDef fd = new b2FixtureDef();
fd.friction = 1.000000000000000e+01f;
fd.restitution = 0.000000000000000e+00f;
fd.density = 0.000000000000000e+00f;
fd.isSensor = false;
fd.filter.categoryBits = 1;
fd.filter.maskBits = 65535;
fd.filter.groupIndex = 0;
b2EdgeShape shape = new b2EdgeShape();
shape.Radius = 9.999999776482582e-03f;
shape.Vertex0 = new b2Vec2(0.000000000000000e+00f, 0.000000000000000e+00f);
shape.Vertex1 = new b2Vec2(0.000000000000000e+00f, 0.000000000000000e+00f);
shape.Vertex2 = new b2Vec2(4.452173995971680e+01f, 0.000000000000000e+00f);
shape.Vertex3 = new b2Vec2(0.000000000000000e+00f, 0.000000000000000e+00f);
shape.HasVertex0 = false;
shape.HasVertex3 = false;
fd.shape = shape;
bodies[2].CreateFixture(fd);
}
}
{
b2PrismaticJointDef jd = new b2PrismaticJointDef();
jd.BodyA = bodies[1];
jd.BodyB = bodies[0];
jd.CollideConnected = false;
jd.localAnchorA.Set(0.000000000000000e+00f, 0.000000000000000e+00f);
jd.localAnchorB.Set(-1.219565200805664e+01f, 0.000000000000000e+00f);
jd.localAxisA.Set(-1.219565200805664e+01f, 0.000000000000000e+00f);
jd.referenceAngle = 0.000000000000000e+00f;
jd.enableLimit = true;
jd.lowerTranslation = -2.000000000000000e+01f;
jd.upperTranslation = 0.000000000000000e+00f;
jd.enableMotor = true;
jd.motorSpeed = 0.000000000000000e+00f;
jd.maxMotorForce = 1.000000000000000e+01f;
joints[0] = m_world.CreateJoint(jd);
}
{
b2RevoluteJointDef jd = new b2RevoluteJointDef();
jd.BodyA = bodies[1];
jd.BodyB = bodies[2];
jd.CollideConnected = false;
jd.localAnchorA.Set(0.000000000000000e+00f, 0.000000000000000e+00f);
jd.localAnchorB.Set(8.478260636329651e-01f, 2.500000000000000e+00f);
jd.referenceAngle = 0.000000000000000e+00f;
jd.enableLimit = false;
jd.lowerAngle = 0.000000000000000e+00f;
jd.upperAngle = 0.000000000000000e+00f;
jd.enableMotor = false;
jd.motorSpeed = 0.000000000000000e+00f;
jd.maxMotorTorque = 0.000000000000000e+00f;
joints[1] = m_world.CreateJoint(jd);
}
}
internal static global::System.Runtime.InteropServices.HandleRef getCPtr(b2PrismaticJointDef obj)
{
return((obj == null) ? new global::System.Runtime.InteropServices.HandleRef(null, global::System.IntPtr.Zero) : obj.swigCPtr);
}
public BodyTypes()
{
b2Body ground = null;
{
b2BodyDef bd = new b2BodyDef();
ground = m_world.CreateBody(bd);
b2EdgeShape shape = new b2EdgeShape();
shape.Set(new b2Vec2(-20.0f, 0.0f), new b2Vec2(20.0f, 0.0f));
b2FixtureDef fd = new b2FixtureDef();
fd.shape = shape;
ground.CreateFixture(fd);
}
// Define attachment
{
b2BodyDef bd = new b2BodyDef();
bd.type = b2BodyType.b2_dynamicBody;
bd.position = new b2Vec2(0.0f, 3.0f);
m_attachment = m_world.CreateBody(bd);
b2PolygonShape shape = new b2PolygonShape();
shape.SetAsBox(0.5f, 2.0f);
m_attachment.CreateFixture(shape, 2.0f);
}
// Define platform
{
b2BodyDef bd = new b2BodyDef();
bd.type = b2BodyType.b2_dynamicBody;
bd.position = new b2Vec2(-4.0f, 5.0f);
m_platform = m_world.CreateBody(bd);
b2PolygonShape shape = new b2PolygonShape();
shape.SetAsBox(0.5f, 4.0f, new b2Vec2(4.0f, 0.0f), 0.5f * b2Settings.b2_pi);
b2FixtureDef fd = new b2FixtureDef();
fd.shape = shape;
fd.friction = 0.6f;
fd.density = 2.0f;
m_platform.CreateFixture(fd);
b2RevoluteJointDef rjd = new b2RevoluteJointDef();
rjd.Initialize(m_attachment, m_platform, new b2Vec2(0.0f, 5.0f));
rjd.maxMotorTorque = 50.0f;
rjd.enableMotor = true;
m_world.CreateJoint(rjd);
b2PrismaticJointDef pjd = new b2PrismaticJointDef();
pjd.Initialize(ground, m_platform, new b2Vec2(0.0f, 5.0f), new b2Vec2(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
{
b2BodyDef bd = new b2BodyDef();
bd.type = b2BodyType.b2_dynamicBody;
bd.position = new b2Vec2(0.0f, 8.0f);
b2Body body = m_world.CreateBody(bd);
b2PolygonShape shape = new b2PolygonShape();
shape.SetAsBox(0.75f, 0.75f);
b2FixtureDef fd = new b2FixtureDef();
fd.shape = shape;
fd.friction = 0.6f;
fd.density = 2.0f;
body.CreateFixture(fd);
}
}
public SliderCrank()
{
b2Body ground;
{
b2BodyDef bd = new b2BodyDef();
ground = m_world.CreateBody(bd);
b2EdgeShape shape = new b2EdgeShape();
shape.Set(new b2Vec2(-40.0f, 0.0f), new b2Vec2(40.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
{
b2Body prevBody = ground;
// Define crank.
{
b2PolygonShape shape = new b2PolygonShape();
shape.SetAsBox(0.5f, 2.0f);
b2BodyDef bd = new b2BodyDef();
bd.type = b2BodyType.b2_dynamicBody;
bd.position.Set(0.0f, 7.0f);
b2Body body = m_world.CreateBody(bd);
body.CreateFixture(shape, 2.0f);
b2RevoluteJointDef rjd = new b2RevoluteJointDef();
rjd.Initialize(prevBody, body, new b2Vec2(0.0f, 5.0f));
rjd.motorSpeed = 1.0f * b2Settings.b2_pi;
rjd.maxMotorTorque = 10000.0f;
rjd.enableMotor = true;
m_joint1 = (b2RevoluteJoint)m_world.CreateJoint(rjd);
prevBody = body;
}
// Define follower.
{
b2PolygonShape shape = new b2PolygonShape();
shape.SetAsBox(0.5f, 4.0f);
b2BodyDef bd = new b2BodyDef();
bd.type = b2BodyType.b2_dynamicBody;
bd.position.Set(0.0f, 13.0f);
b2Body body = m_world.CreateBody(bd);
body.CreateFixture(shape, 2.0f);
b2RevoluteJointDef rjd = new b2RevoluteJointDef();
rjd.Initialize(prevBody, body, new b2Vec2(0.0f, 9.0f));
rjd.enableMotor = false;
m_world.CreateJoint(rjd);
prevBody = body;
}
// Define piston
{
b2PolygonShape shape = new b2PolygonShape();
shape.SetAsBox(1.5f, 1.5f);
b2BodyDef bd = new b2BodyDef();
bd.type = b2BodyType.b2_dynamicBody;
bd.fixedRotation = true;
bd.position.Set(0.0f, 17.0f);
b2Body body = m_world.CreateBody(bd);
body.CreateFixture(shape, 2.0f);
b2RevoluteJointDef rjd = new b2RevoluteJointDef();
rjd.Initialize(prevBody, body, new b2Vec2(0.0f, 17.0f));
m_world.CreateJoint(rjd);
b2PrismaticJointDef pjd = new b2PrismaticJointDef();
pjd.Initialize(ground, body, new b2Vec2(0.0f, 17.0f), new b2Vec2(0.0f, 1.0f));
pjd.maxMotorForce = 1000.0f;
pjd.enableMotor = true;
m_joint2 = (b2PrismaticJoint)m_world.CreateJoint(pjd);
}
// Create a payload
{
b2PolygonShape shape = new b2PolygonShape();
shape.SetAsBox(1.5f, 1.5f);
b2BodyDef bd = new b2BodyDef();
bd.type = b2BodyType.b2_dynamicBody;
bd.position.Set(0.0f, 23.0f);
b2Body body = m_world.CreateBody(bd);
body.CreateFixture(shape, 2.0f);
}
}
}
