public MovingJoint()
{
var capeFixture = new FixtureDef(new PolygonShape(0.08f, 0.4f, (float)(Math.PI)), 0.2f);
var capeBody = new BodyDef(BodyType.Dynamic, new Vec2(0, 10));
Body testbody = m_world.CreateBody(capeBody);
testbody.CreateFixture(capeFixture);
staticBody = m_world.CreateBody(new BodyDef(BodyType.Static, testbody.WorldCenter + new Vec2(-0.08f / 25, 0.4f)));
staticBody.CreateFixture(new CircleShape(0.15f), 0);
{
RevoluteJointDef rjd = new RevoluteJointDef();
rjd.Initialize(testbody, staticBody, testbody.WorldCenter + new Vec2(0.0f, 0.4f));
joint = (RevoluteJoint)m_world.CreateJoint(rjd);
}
// build cape
Body lastBody = testbody;
for (int i = 0; i < 8; ++i)
{
capeBody.Position = new Vec2(capeBody.Position.X, capeBody.Position.Y - 0.8f);
var nextBody = m_world.CreateBody(capeBody);
nextBody.CreateFixture(capeFixture);
var joint = new RevoluteJointDef();
joint.Initialize(lastBody, nextBody, nextBody.WorldCenter + new Vec2(0.0f, 0.4f));
m_world.CreateJoint(joint);
lastBody = nextBody;
}
}
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);
}
}
public Car()
{
{ // car body
PolygonShape poly1 = new PolygonShape(), poly2 = new PolygonShape();
// bottom half
poly1.Vertices = new Vec2[]
{
new Vec2(2.2f,-0.74f),
new Vec2(2.2f,-0.2f),
new Vec2(1.0f,0),
new Vec2(-2.2f,0),
new Vec2(-2.2f,-0.74f)
};
FixtureDef fixture1 = new FixtureDef();
fixture1.Filter.GroupIndex = -1;
fixture1.Shape = poly1;
fixture1.Density = 20.0f;
fixture1.Friction = 0.68f;
// top half
poly2.Vertices = new Vec2[]
{
new Vec2(1.0f,0),
new Vec2(0.5f,0.74f),
new Vec2(-1.3f,0.7f),
new Vec2(-1.7f,0),
};
FixtureDef fixture2 = new FixtureDef();
fixture2.Filter.GroupIndex = -1;
fixture2.Shape = poly2;
fixture2.Density = 5.0f;
fixture2.Friction = 0.68f;
BodyDef bd = new BodyDef();
bd.BodyType = BodyType.Dynamic;
bd.Position = new Vec2(0, 0);
m_vehicle = m_world.CreateBody(bd);
m_vehicle.CreateFixture(fixture1);
m_vehicle.CreateFixture(fixture2);
}
{ // vehicle wheels
CircleShape circ = new CircleShape();
circ.Radius = 0.58608f;
FixtureDef wheelFix = new FixtureDef();
wheelFix.Shape = circ;
wheelFix.Density = 40.0f;
wheelFix.Friction = 0.8f;
wheelFix.Filter.GroupIndex = -1;
BodyDef bd = new BodyDef();
bd.BodyType = BodyType.Dynamic;
bd.AllowSleep = false;
bd.Position = new Vec2(1.2f, -0.8f);
m_rightWheel = m_world.CreateBody(bd);
m_rightWheel.CreateFixture(wheelFix);
bd.Position = new Vec2(-1.2f, -0.8f);
m_leftWheel = m_world.CreateBody(bd);
m_leftWheel.CreateFixture(wheelFix);
}
{ // join wheels to chassis
RevoluteJointDef jd = new RevoluteJointDef();
jd.Initialize(m_vehicle, m_leftWheel, m_leftWheel.WorldCenter);
jd.CollideConnected = false;
jd.EnableMotor = true;
jd.MaxMotorTorque = 10.0f;
jd.MotorSpeed = 0.0f;
m_leftJoint = (RevoluteJoint)m_world.CreateJoint(jd);
jd.Initialize(m_vehicle, m_rightWheel, m_rightWheel.WorldCenter);
jd.CollideConnected = false;
m_rightJoint = (RevoluteJoint)m_world.CreateJoint(jd);
}
}
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 TheoJansen()
{
m_offset = new Vec2(0.0f, 8.0f);
m_motorSpeed = 2.0f;
m_motorOn = true;
Vec2 pivot = new Vec2(0.0f, 0.8f);
// Ground
{
BodyDef bd = new BodyDef();
Body 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);
shape.SetAsEdge(new Vec2(-50.0f, 0.0f), new Vec2(-50.0f, 10.0f));
ground.CreateFixture(shape, 0.0f);
shape.SetAsEdge(new Vec2(50.0f, 0.0f), new Vec2(50.0f, 10.0f));
ground.CreateFixture(shape, 0.0f);
const float groundHeight = 0.19f;
const float groundHeight2 = groundHeight * 2;
shape.SetAsBox(10, groundHeight, new Vec2(-14, (groundHeight / 2)), 0);
ground.CreateFixture(shape, 0.0f);
shape.SetAsBox(8, groundHeight, new Vec2(-14, (groundHeight / 2) + groundHeight2), 0);
ground.CreateFixture(shape, 0.0f);
shape.SetAsBox(6, groundHeight, new Vec2(-14, (groundHeight / 2) + groundHeight2 + groundHeight2), 0);
ground.CreateFixture(shape, 0.0f);
shape.SetAsBox(4, groundHeight, new Vec2(-14, (groundHeight / 2) + groundHeight2 + groundHeight2 + groundHeight2), 0);
ground.CreateFixture(shape, 0.0f);
shape.SetAsBox(2, groundHeight, new Vec2(-14, (groundHeight / 2) + groundHeight2 + groundHeight2 + groundHeight2 + groundHeight2), 0);
ground.CreateFixture(shape, 0.0f);
}
// Balls
for (int i = 0; i < 25; ++i)
{
CircleShape shape = new CircleShape();
shape.Radius = 0.25f;
BodyDef bd = new BodyDef();
bd.BodyType = BodyType.Dynamic;
bd.Position = new Vec2(-40.0f + 2.0f * i, 3f);
Body body = m_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.BodyType = BodyType.Dynamic;
bd.Position = pivot + m_offset;
m_chassis = m_world.CreateBody(bd);
m_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.BodyType = BodyType.Dynamic;
bd.Position = pivot + m_offset;
m_wheel = m_world.CreateBody(bd);
m_wheel.CreateFixture(sd);
}
{
RevoluteJointDef jd = new RevoluteJointDef();
jd.Initialize(m_wheel, m_chassis, pivot + m_offset);
jd.CollideConnected = false;
jd.MotorSpeed = m_motorSpeed;
jd.MaxMotorTorque = 400.0f;
jd.EnableMotor = m_motorOn;
m_motorJoint = (RevoluteJoint)m_world.CreateJoint(jd);
}
Vec2 wheelAnchor = pivot + new Vec2(0.0f, -0.8f);
CreateLeg(-1.0f, wheelAnchor);
CreateLeg(1.0f, wheelAnchor);
m_wheel.SetTransform(m_wheel.Position, 120.0f * (float)Math.PI / 180.0f);
CreateLeg(-1.0f, wheelAnchor);
CreateLeg(1.0f, wheelAnchor);
m_wheel.SetTransform(m_wheel.Position, -120.0f * (float)Math.PI / 180.0f);
CreateLeg(-1.0f, wheelAnchor);
CreateLeg(1.0f, wheelAnchor);
}
public SliderCrank()
{
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);
}
{
Body prevBody = ground;
// Define crank.
{
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, 2.0f);
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);
BodyDef bd = new BodyDef();
bd.BodyType = BodyType.Dynamic;
bd.Position = new Vec2(0.0f, 13.0f);
Body body = m_world.CreateBody(bd);
body.CreateFixture(shape, 2.0f);
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);
BodyDef bd = new BodyDef();
bd.BodyType = BodyType.Dynamic;
bd.Position = new Vec2(0.0f, 17.0f);
Body body = m_world.CreateBody(bd);
body.CreateFixture(shape, 2.0f);
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.BodyType = BodyType.Dynamic;
bd.Position = new Vec2(0.0f, 23.0f);
Body body = m_world.CreateBody(bd);
body.CreateFixture(shape, 2.0f);
}
}
}
