ApplyForceTest()
{
World.Gravity = Vector2.Zero;
const double restitution = 0.4f;
Body ground;
{
ground = BodyFactory.CreateBody(World);
ground.Position = new Vector2(0.0f, 20.0f);
EdgeShape shape = new EdgeShape(new Vector2(-20.0f, -20.0f), new Vector2(-20.0f, 20.0f));
// Left vertical
Fixture fixture = ground.CreateFixture(shape);
fixture.Restitution = restitution;
// Right vertical
shape = new EdgeShape(new Vector2(20.0f, -20.0f), new Vector2(20.0f, 20.0f));
ground.CreateFixture(shape);
// Top horizontal
shape = new EdgeShape(new Vector2(-20.0f, 20.0f), new Vector2(20.0f, 20.0f));
ground.CreateFixture(shape);
// Bottom horizontal
shape = new EdgeShape(new Vector2(-20.0f, -20.0f), new Vector2(20.0f, -20.0f));
ground.CreateFixture(shape);
}
{
Alt.FarseerPhysics.Common.Transform xf1 = new Alt.FarseerPhysics.Common.Transform();
xf1.q.Set(0.3524f * Alt.FarseerPhysics.Settings.Pi);
xf1.p = Alt.FarseerPhysics.Common.MathUtils.Mul(ref xf1.q, new Vector2(1.0f, 0.0f));
Vertices vertices = new Vertices(3);
vertices.Add(Alt.FarseerPhysics.Common.MathUtils.Mul(ref xf1, new Vector2(-1.0f, 0.0f)));
vertices.Add(Alt.FarseerPhysics.Common.MathUtils.Mul(ref xf1, new Vector2(1.0f, 0.0f)));
vertices.Add(Alt.FarseerPhysics.Common.MathUtils.Mul(ref xf1, new Vector2(0.0f, 0.5f)));
PolygonShape poly1 = new PolygonShape(vertices, 4);
Alt.FarseerPhysics.Common.Transform xf2 = new Alt.FarseerPhysics.Common.Transform();
xf2.q.Set(-0.3524f * Alt.FarseerPhysics.Settings.Pi);
xf2.p = Alt.FarseerPhysics.Common.MathUtils.Mul(ref xf2.q, new Vector2(-1.0f, 0.0f));
vertices[0] = Alt.FarseerPhysics.Common.MathUtils.Mul(ref xf2, new Vector2(-1.0f, 0.0f));
vertices[1] = Alt.FarseerPhysics.Common.MathUtils.Mul(ref xf2, new Vector2(1.0f, 0.0f));
vertices[2] = Alt.FarseerPhysics.Common.MathUtils.Mul(ref xf2, new Vector2(0.0f, 0.5f));
PolygonShape poly2 = new PolygonShape(vertices, 2);
_body = BodyFactory.CreateBody(World);
_body.BodyType = BodyType.Dynamic;
_body.Position = new Vector2(0.0f, 2.0f);
_body.Rotation = Alt.FarseerPhysics.Settings.Pi;
_body.AngularDamping = 5.0f;
_body.LinearDamping = 0.8f;
_body.SleepingAllowed = true;
_body.CreateFixture(poly1);
_body.CreateFixture(poly2);
}
{
Vertices box = PolygonTools.CreateRectangle(0.5f, 0.5f);
PolygonShape shape = new PolygonShape(box, 1);
for (int i = 0; i < 10; ++i)
{
Body body = BodyFactory.CreateBody(World);
body.Position = new Vector2(0.0f, 5.0f + 1.54f * i);
body.BodyType = BodyType.Dynamic;
Fixture fixture = body.CreateFixture(shape);
fixture.Friction = 0.3f;
const double gravity = 10.0f;
double I = body.Inertia;
double mass = body.Mass;
// For a circle: I = 0.5 * m * r * r ==> r = sqrt(2 * I / m)
double radius = (double)Math.Sqrt(2.0 * (I / mass));
FrictionJoint jd = new FrictionJoint(ground, body, Vector2.Zero);
jd.CollideConnected = true;
jd.MaxForce = mass * gravity;
jd.MaxTorque = mass * radius * gravity;
World.AddJoint(jd);
}
}
}
CompoundShapesTest()
{
BodyFactory.CreateEdge(World, new Vector2(50.0f, 0.0f), new Vector2(-50.0f, 0.0f));
{
CircleShape circle1 = new CircleShape(0.5f, 2);
circle1.Position = new Vector2(-0.5f, 0.5f);
CircleShape circle2 = new CircleShape(0.5f, 0);
circle2.Position = new Vector2(0.5f, 0.5f);
for (int i = 0; i < 10; ++i)
{
double x = Rand.RandomFloat(-0.1f, 0.1f);
Body body = BodyFactory.CreateBody(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(x + 5.0f, 1.05f + 2.5f * i);
body.Rotation = Rand.RandomFloat(-Alt.FarseerPhysics.Settings.Pi, Alt.FarseerPhysics.Settings.Pi);
body.CreateFixture(circle1);
body.CreateFixture(circle2);
}
}
{
Vertices box = PolygonTools.CreateRectangle(0.25f, 0.5f);
PolygonShape polygon1 = new PolygonShape(box, 2);
box = PolygonTools.CreateRectangle(0.25f, 0.5f, new Vector2(0.0f, -0.5f), 0.5f * Alt.FarseerPhysics.Settings.Pi);
PolygonShape polygon2 = new PolygonShape(box, 2);
for (int i = 0; i < 10; ++i)
{
double x = Rand.RandomFloat(-0.1f, 0.1f);
Body body = BodyFactory.CreateBody(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(x - 5.0f, 1.05f + 2.5f * i);
body.Rotation = Rand.RandomFloat(-Alt.FarseerPhysics.Settings.Pi, Alt.FarseerPhysics.Settings.Pi);
body.CreateFixture(polygon1);
body.CreateFixture(polygon2);
}
}
{
Alt.FarseerPhysics.Common.Transform xf1 = new Alt.FarseerPhysics.Common.Transform();
xf1.q.Set(0.3524f * Alt.FarseerPhysics.Settings.Pi);
xf1.p = Alt.FarseerPhysics.Common.MathUtils.Mul(ref xf1.q, new Vector2(1.0f, 0.0f));
Vertices vertices = new Vertices(3);
vertices.Add(Alt.FarseerPhysics.Common.MathUtils.Mul(ref xf1, new Vector2(-1.0f, 0.0f)));
vertices.Add(Alt.FarseerPhysics.Common.MathUtils.Mul(ref xf1, new Vector2(1.0f, 0.0f)));
vertices.Add(Alt.FarseerPhysics.Common.MathUtils.Mul(ref xf1, new Vector2(0.0f, 0.5f)));
PolygonShape triangle1 = new PolygonShape(vertices, 2);
Alt.FarseerPhysics.Common.Transform xf2 = new Alt.FarseerPhysics.Common.Transform();
xf2.q.Set(-0.3524f * Alt.FarseerPhysics.Settings.Pi);
xf2.p = MathUtils.Mul(ref xf2.q, new Vector2(-1.0f, 0.0f));
vertices[0] = Alt.FarseerPhysics.Common.MathUtils.Mul(ref xf2, new Vector2(-1.0f, 0.0f));
vertices[1] = Alt.FarseerPhysics.Common.MathUtils.Mul(ref xf2, new Vector2(1.0f, 0.0f));
vertices[2] = Alt.FarseerPhysics.Common.MathUtils.Mul(ref xf2, new Vector2(0.0f, 0.5f));
PolygonShape triangle2 = new PolygonShape(vertices, 2);
for (int i = 0; i < 10; ++i)
{
double x = Rand.RandomFloat(-0.1f, 0.1f);
Body body = BodyFactory.CreateBody(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(x, 2.05f + 2.5f * i);
body.CreateFixture(triangle1);
body.CreateFixture(triangle2);
}
}
{
Vertices box = PolygonTools.CreateRectangle(1.5f, 0.15f);
PolygonShape bottom = new PolygonShape(box, 4);
box = PolygonTools.CreateRectangle(0.15f, 2.7f, new Vector2(-1.45f, 2.35f), 0.2f);
PolygonShape left = new PolygonShape(box, 4);
box = PolygonTools.CreateRectangle(0.15f, 2.7f, new Vector2(1.45f, 2.35f), -0.2f);
PolygonShape right = new PolygonShape(box, 4);
Body body = BodyFactory.CreateBody(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(0.0f, 2.0f);
body.CreateFixture(bottom);
body.CreateFixture(left);
body.CreateFixture(right);
}
}