public b2RevoluteJoint(b2RevoluteJointDef def)
: base(def)
{
m_localAnchorA = def.localAnchorA;
m_localAnchorB = def.localAnchorB;
m_referenceAngle = def.referenceAngle;
m_impulse.SetZero();
m_motorImpulse = 0.0f;
m_lowerAngle = def.lowerAngle;
m_upperAngle = def.upperAngle;
m_maxMotorTorque = def.maxMotorTorque;
m_motorSpeed = def.motorSpeed;
m_enableLimit = def.enableLimit;
m_enableMotor = def.enableMotor;
m_limitState = b2LimitState.e_inactiveLimit;
}
public b2RevoluteJoint(b2RevoluteJointDef def)
: base(def)
{
m_localAnchorA = def.localAnchorA;
m_localAnchorB = def.localAnchorB;
m_referenceAngle = def.referenceAngle;
m_impulse.SetZero();
m_motorImpulse = 0.0f;
m_lowerAngle = def.lowerAngle;
m_upperAngle = def.upperAngle;
m_maxMotorTorque = def.maxMotorTorque;
m_motorSpeed = def.motorSpeed;
m_enableLimit = def.enableLimit;
m_enableMotor = def.enableMotor;
m_limitState = b2LimitState.e_inactiveLimit;
}
public Chain()
{
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(0.6f, 0.125f);
b2FixtureDef fd = new b2FixtureDef();
fd.shape = shape;
fd.density = 20.0f;
fd.friction = 0.2f;
b2RevoluteJointDef jd = new b2RevoluteJointDef();
jd.CollideConnected = false;
const float y = 25.0f;
b2Body prevBody = ground;
for (int i = 0; i < 30; ++i)
{
b2BodyDef bd = new b2BodyDef();
bd.type = b2BodyType.b2_dynamicBody;
bd.position.Set(0.5f + i, y);
b2Body body = m_world.CreateBody(bd);
body.CreateFixture(fd);
b2Vec2 anchor = new b2Vec2(i, y);
jd.Initialize(prevBody, body, anchor);
m_world.CreateJoint(jd);
prevBody = body;
}
}
}
public Tumbler()
{
b2Body ground;
{
b2BodyDef bd = new b2BodyDef();
ground = m_world.CreateBody(bd);
}
{
b2BodyDef bd = new b2BodyDef();
bd.type = b2BodyType.b2_dynamicBody;
bd.allowSleep = false;
bd.position.Set(0.0f, 10.0f);
b2Body body = m_world.CreateBody(bd);
b2PolygonShape shape = new b2PolygonShape();
shape.SetAsBox(0.5f, 10.0f, new b2Vec2(10.0f, 0.0f), 0.0f);
body.CreateFixture(shape, 5.0f);
shape.SetAsBox(0.5f, 10.0f, new b2Vec2(-10.0f, 0.0f), 0.0f);
body.CreateFixture(shape, 5.0f);
shape.SetAsBox(10.0f, 0.5f, new b2Vec2(0.0f, 10.0f), 0.0f);
body.CreateFixture(shape, 5.0f);
shape.SetAsBox(10.0f, 0.5f, new b2Vec2(0.0f, -10.0f), 0.0f);
body.CreateFixture(shape, 5.0f);
b2RevoluteJointDef jd = new b2RevoluteJointDef();
jd.BodyA = ground;
jd.BodyB = body;
jd.localAnchorA.Set(0.0f, 10.0f);
jd.localAnchorB.Set(0.0f, 0.0f);
jd.referenceAngle = 0.0f;
jd.motorSpeed = 0.05f * b2Settings.b2_pi;
jd.maxMotorTorque = 1e8f;
jd.enableMotor = true;
m_joint = (b2RevoluteJoint) m_world.CreateJoint(jd);
}
m_count = 0;
}
public Car()
{
m_hz = 4.0f;
m_zeta = 0.7f;
m_speed = 50.0f;
b2Body ground = null;
{
b2BodyDef bd = new b2BodyDef();
ground = m_world.CreateBody(bd);
b2EdgeShape shape = new b2EdgeShape();
b2FixtureDef fd = new b2FixtureDef();
fd.shape = shape;
fd.density = 0.0f;
fd.friction = 0.6f;
shape.Set(new b2Vec2(-20.0f, 0.0f), new b2Vec2(20.0f, 0.0f));
ground.CreateFixture(fd);
float[] hs = {0.25f, 1.0f, 4.0f, 0.0f, 0.0f, -1.0f, -2.0f, -2.0f, -1.25f, 0.0f};
float x = 20.0f, y1 = 0.0f, dx = 5.0f;
for (int i = 0; i < 10; ++i)
{
float y2 = hs[i];
shape.Set(new b2Vec2(x, y1), new b2Vec2(x + dx, y2));
ground.CreateFixture(fd);
y1 = y2;
x += dx;
}
for (int i = 0; i < 10; ++i)
{
float y2 = hs[i];
shape.Set(new b2Vec2(x, y1), new b2Vec2(x + dx, y2));
ground.CreateFixture(fd);
y1 = y2;
x += dx;
}
shape.Set(new b2Vec2(x, 0.0f), new b2Vec2(x + 40.0f, 0.0f));
ground.CreateFixture(fd);
x += 80.0f;
shape.Set(new b2Vec2(x, 0.0f), new b2Vec2(x + 40.0f, 0.0f));
ground.CreateFixture(fd);
x += 40.0f;
shape.Set(new b2Vec2(x, 0.0f), new b2Vec2(x + 10.0f, 5.0f));
ground.CreateFixture(fd);
x += 20.0f;
shape.Set(new b2Vec2(x, 0.0f), new b2Vec2(x + 40.0f, 0.0f));
ground.CreateFixture(fd);
x += 40.0f;
shape.Set(new b2Vec2(x, 0.0f), new b2Vec2(x, 20.0f));
ground.CreateFixture(fd);
}
// Teeter
{
b2BodyDef bd = new b2BodyDef();
bd.position.Set(140.0f, 1.0f);
bd.type = b2BodyType.b2_dynamicBody;
b2Body body = m_world.CreateBody(bd);
b2PolygonShape box = new b2PolygonShape();
box.SetAsBox(10.0f, 0.25f);
body.CreateFixture(box, 1.0f);
b2RevoluteJointDef jd = new b2RevoluteJointDef();
jd.Initialize(ground, body, body.Position);
jd.lowerAngle = -8.0f * b2Settings.b2_pi / 180.0f;
jd.upperAngle = 8.0f * b2Settings.b2_pi / 180.0f;
jd.enableLimit = true;
m_world.CreateJoint(jd);
body.ApplyAngularImpulse(100.0f);
}
// Bridge
{
int N = 20;
b2PolygonShape shape = new b2PolygonShape();
shape.SetAsBox(1.0f, 0.125f);
b2FixtureDef fd = new b2FixtureDef();
fd.shape = shape;
fd.density = 1.0f;
fd.friction = 0.6f;
b2RevoluteJointDef jd = new b2RevoluteJointDef();
b2Body prevBody = ground;
for (int i = 0; i < N; ++i)
{
b2BodyDef bd = new b2BodyDef();
bd.type = b2BodyType.b2_dynamicBody;
bd.position.Set(161.0f + 2.0f * i, -0.125f);
b2Body body = m_world.CreateBody(bd);
body.CreateFixture(fd);
b2Vec2 anchor = new b2Vec2(160.0f + 2.0f * i, -0.125f);
jd.Initialize(prevBody, body, anchor);
m_world.CreateJoint(jd);
prevBody = body;
}
b2Vec2 anchor1 = new b2Vec2(160.0f + 2.0f * N, -0.125f);
jd.Initialize(prevBody, ground, anchor1);
m_world.CreateJoint(jd);
}
// Boxes
{
b2PolygonShape box = new b2PolygonShape();
box.SetAsBox(0.5f, 0.5f);
b2Body body = null;
b2BodyDef bd = new b2BodyDef();
bd.type = b2BodyType.b2_dynamicBody;
bd.position.Set(230.0f, 0.5f);
body = m_world.CreateBody(bd);
body.CreateFixture(box, 0.5f);
bd.position.Set(230.0f, 1.5f);
body = m_world.CreateBody(bd);
body.CreateFixture(box, 0.5f);
bd.position.Set(230.0f, 2.5f);
body = m_world.CreateBody(bd);
body.CreateFixture(box, 0.5f);
bd.position.Set(230.0f, 3.5f);
body = m_world.CreateBody(bd);
body.CreateFixture(box, 0.5f);
bd.position.Set(230.0f, 4.5f);
body = m_world.CreateBody(bd);
body.CreateFixture(box, 0.5f);
}
// Car
{
b2PolygonShape chassis = new b2PolygonShape();
b2Vec2[] vertices = new b2Vec2[8];
vertices[0].Set(-1.5f, -0.5f);
vertices[1].Set(1.5f, -0.5f);
vertices[2].Set(1.5f, 0.0f);
vertices[3].Set(0.0f, 0.9f);
vertices[4].Set(-1.15f, 0.9f);
vertices[5].Set(-1.5f, 0.2f);
chassis.Set(vertices, 6);
b2CircleShape circle = new b2CircleShape();
circle.Radius = 0.4f;
b2BodyDef bd = new b2BodyDef();
bd.type = b2BodyType.b2_dynamicBody;
bd.position.Set(0.0f, 1.0f);
m_car = m_world.CreateBody(bd);
m_car.CreateFixture(chassis, 1.0f);
b2FixtureDef fd = new b2FixtureDef();
fd.shape = circle;
fd.density = 1.0f;
fd.friction = 0.9f;
bd.position.Set(-1.0f, 0.35f);
m_wheel1 = m_world.CreateBody(bd);
m_wheel1.CreateFixture(fd);
bd.position.Set(1.0f, 0.4f);
m_wheel2 = m_world.CreateBody(bd);
m_wheel2.CreateFixture(fd);
b2WheelJointDef jd = new b2WheelJointDef();
b2Vec2 axis = new b2Vec2(0.0f, 1.0f);
jd.Initialize(m_car, m_wheel1, m_wheel1.Position, axis);
jd.motorSpeed = 0.0f;
jd.maxMotorTorque = 20.0f;
jd.enableMotor = true;
jd.frequencyHz = m_hz;
jd.dampingRatio = m_zeta;
m_spring1 = (b2WheelJoint) m_world.CreateJoint(jd);
jd.Initialize(m_car, m_wheel2, m_wheel2.Position, axis);
jd.motorSpeed = 0.0f;
jd.maxMotorTorque = 10.0f;
jd.enableMotor = false;
jd.frequencyHz = m_hz;
jd.dampingRatio = m_zeta;
m_spring2 = (b2WheelJoint) m_world.CreateJoint(jd);
}
}
public Wheel(
b2World b2world,
double x,
double y,
double width,
double length,
bool revolving,
bool powered
)
{
this.revolving = revolving;
this.powered = powered;
this.Initialize = car =>
{
/*
wheel object
pars:
car - car this wheel belongs to
x - horizontal position in meters relative to car's center
y - vertical position in meters relative to car's center
width - width in meters
length - length in meters
revolving - does this wheel revolve when steering?
powered - is this wheel powered?
*/
var position = new double[] { x, y };
//this.car=pars.car;
//this.revolving=pars.revolving;
//this.powered=pars.powered;
//initialize body
var def = new b2BodyDef();
def.type = b2Body.b2_dynamicBody;
def.position = car.body.GetWorldPoint(new b2Vec2(position[0], position[1]));
def.angle = car.body.GetAngle();
this.body = b2world.CreateBody(def);
//initialize shape
var fixdef = new b2FixtureDef();
fixdef.density = 1;
fixdef.isSensor = true; //wheel does not participate in collision calculations: resulting complications are unnecessary
var fixdef_shape = new b2PolygonShape();
fixdef.shape = fixdef_shape;
fixdef_shape.SetAsBox(width / 2, length / 2);
body.CreateFixture(fixdef);
var jointdef = new b2RevoluteJointDef();
//create joint to connect wheel to body
if (revolving)
{
jointdef.Initialize(car.body, body, body.GetWorldCenter());
jointdef.enableMotor = false; //we'll be controlling the wheel's angle manually
}
else
{
jointdef.Initialize(car.body, body, body.GetWorldCenter()
//, new b2Vec2(1, 0)
);
jointdef.enableLimit = true;
//jointdef.lowerTranslation = 0;
//jointdef.upperTranslation = 0;
}
b2world.CreateJoint(jointdef);
#region setAngle
this.setAngle =
(angle) =>
{
/*
angle - wheel angle relative to car, in degrees
*/
body.SetAngle(car.body.GetAngle() + angle.DegreesToRadians());
};
#endregion
#region getLocalVelocity
Func<double[]> getLocalVelocity = delegate
{
/*returns get velocity vector relative to car
*/
var res = car.body.GetLocalVector(car.body.GetLinearVelocityFromLocalPoint(new b2Vec2(position[0], position[1])));
return new double[] { res.x, res.y };
};
#endregion
#region getDirectionVector
Func<double[]> getDirectionVector = delegate
{
/*
returns a world unit vector pointing in the direction this wheel is moving
*/
if (getLocalVelocity()[1] > 0)
return vectors.rotate(new double[] { 0, 1 }, body.GetAngle());
else
return vectors.rotate(new double[] { 0, -1 }, body.GetAngle());
};
#endregion
#region getKillVelocityVector
Func<double[]> getKillVelocityVector = delegate
{
/*
substracts sideways velocity from this wheel's velocity vector and returns the remaining front-facing velocity vector
*/
var velocity = body.GetLinearVelocity();
var sideways_axis = getDirectionVector();
var dotprod = vectors.dot(new[] { velocity.x, velocity.y }, sideways_axis);
return new double[] { sideways_axis[0] * dotprod, sideways_axis[1] * dotprod };
};
#endregion
#region killSidewaysVelocity
this.killSidewaysVelocity = delegate
{
/*
removes all sideways velocity from this wheels velocity
*/
var kv = getKillVelocityVector();
body.SetLinearVelocity(new b2Vec2(kv[0], kv[1]));
};
#endregion
};
}
public void CreateLeg(float s, b2Vec2 wheelAnchor)
{
b2Vec2 p1 = new b2Vec2(5.4f * s, -6.1f);
b2Vec2 p2 = new b2Vec2(7.2f * s, -1.2f);
b2Vec2 p3 = new b2Vec2(4.3f * s, -1.9f);
b2Vec2 p4 = new b2Vec2(3.1f * s, 0.8f);
b2Vec2 p5 = new b2Vec2(6.0f * s, 1.5f);
b2Vec2 p6 = new b2Vec2(2.5f * s, 3.7f);
b2FixtureDef fd1 = new b2FixtureDef();
b2FixtureDef fd2 = new b2FixtureDef();
fd1.filter.groupIndex = -1;
fd2.filter.groupIndex = -1;
fd1.density = 1.0f;
fd2.density = 1.0f;
b2PolygonShape poly1 = new b2PolygonShape();
b2PolygonShape poly2 = new b2PolygonShape();
if (s > 0.0f)
{
b2Vec2[] vertices = new b2Vec2[3];
vertices[0] = p1;
vertices[1] = p2;
vertices[2] = p3;
poly1.Set(vertices, 3);
vertices[0] = b2Vec2.Zero;
vertices[1] = p5 - p4;
vertices[2] = p6 - p4;
poly2.Set(vertices, 3);
}
else
{
b2Vec2[] vertices = new b2Vec2[3];
vertices[0] = p1;
vertices[1] = p3;
vertices[2] = p2;
poly1.Set(vertices, 3);
vertices[0] = b2Vec2.Zero;
vertices[1] = p6 - p4;
vertices[2] = p5 - p4;
poly2.Set(vertices, 3);
}
fd1.shape = poly1;
fd2.shape = poly2;
b2BodyDef bd1 = new b2BodyDef();
b2BodyDef bd2 = new b2BodyDef();
bd1.type = b2BodyType.b2_dynamicBody;
bd2.type = b2BodyType.b2_dynamicBody;
bd1.position = m_offset;
bd2.position = p4 + m_offset;
bd1.angularDamping = 10.0f;
bd2.angularDamping = 10.0f;
b2Body body1 = m_world.CreateBody(bd1);
b2Body body2 = m_world.CreateBody(bd2);
body1.CreateFixture(fd1);
body2.CreateFixture(fd2);
b2DistanceJointDef djd = new b2DistanceJointDef();
// Using a soft distance constraint can reduce some jitter.
// It also makes the structure seem a bit more fluid by
// acting like a suspension system.
djd.dampingRatio = 0.5f;
djd.frequencyHz = 10.0f;
djd.Initialize(body1, body2, p2 + m_offset, p5 + m_offset);
m_world.CreateJoint(djd);
djd.Initialize(body1, body2, p3 + m_offset, p4 + m_offset);
m_world.CreateJoint(djd);
djd.Initialize(body1, m_wheel, p3 + m_offset, wheelAnchor + m_offset);
m_world.CreateJoint(djd);
djd.Initialize(body2, m_wheel, p6 + m_offset, wheelAnchor + m_offset);
m_world.CreateJoint(djd);
b2RevoluteJointDef rjd = new b2RevoluteJointDef();
rjd.Initialize(body2, m_chassis, p4 + m_offset);
m_world.CreateJoint(rjd);
}
public Revolute()
{
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));
b2FixtureDef fd = new b2FixtureDef();
fd.shape = shape;
//fd.filter.categoryBits = 2;
ground.CreateFixture(fd);
}
{
b2CircleShape shape = new b2CircleShape();
shape.Radius = 0.5f;
b2BodyDef bd = new b2BodyDef();
bd.type = b2BodyType.b2_dynamicBody;
b2RevoluteJointDef rjd = new b2RevoluteJointDef();
bd.position.Set(-10.0f, 20.0f);
b2Body body = m_world.CreateBody(bd);
body.CreateFixture(shape, 5.0f);
float w = 100.0f;
body.AngularVelocity = w;
body.LinearVelocity = new b2Vec2(-8.0f * w, 0.0f);
rjd.Initialize(ground, body, new b2Vec2(-10.0f, 12.0f));
rjd.motorSpeed = 1.0f * b2Settings.b2_pi;
rjd.maxMotorTorque = 10000.0f;
rjd.enableMotor = false;
rjd.lowerAngle = -0.25f * b2Settings.b2_pi;
rjd.upperAngle = 0.5f * b2Settings.b2_pi;
rjd.enableLimit = true;
rjd.CollideConnected = true;
m_joint = (b2RevoluteJoint) m_world.CreateJoint(rjd);
}
{
b2CircleShape circle_shape = new b2CircleShape();
circle_shape.Radius = 3.0f;
b2BodyDef circle_bd = new b2BodyDef();
circle_bd.type = b2BodyType.b2_dynamicBody;
circle_bd.position.Set(5.0f, 30.0f);
b2FixtureDef fd = new b2FixtureDef();
fd.density = 5.0f;
fd.filter.maskBits = 1;
fd.shape = circle_shape;
m_ball = m_world.CreateBody(circle_bd);
m_ball.CreateFixture(fd);
b2PolygonShape polygon_shape = new b2PolygonShape();
polygon_shape.SetAsBox(10.0f, 0.2f, new b2Vec2(-10.0f, 0.0f), 0.0f);
b2BodyDef polygon_bd = new b2BodyDef();
polygon_bd.position.Set(20.0f, 10.0f);
polygon_bd.type = b2BodyType.b2_dynamicBody;
polygon_bd.bullet = true;
b2Body polygon_body = m_world.CreateBody(polygon_bd);
polygon_body.CreateFixture(polygon_shape, 2.0f);
b2RevoluteJointDef rjd = new b2RevoluteJointDef();
rjd.Initialize(ground, polygon_body, new b2Vec2(20.0f, 10.0f));
rjd.lowerAngle = -0.25f * b2Settings.b2_pi;
rjd.upperAngle = 0.0f * b2Settings.b2_pi;
rjd.enableLimit = true;
m_world.CreateJoint(rjd);
}
// Tests mass computation of a small object far from the origin
{
b2BodyDef bodyDef = new b2BodyDef();
bodyDef.type = b2BodyType.b2_dynamicBody;
b2Body body = m_world.CreateBody(bodyDef);
b2PolygonShape polyShape = new b2PolygonShape();
b2Vec2[] verts = new b2Vec2[3];
verts[0].Set(17.63f, 36.31f);
verts[1].Set(17.52f, 36.69f);
verts[2].Set(17.19f, 36.36f);
polyShape.Set(verts, 3);
b2FixtureDef polyFixtureDef = new b2FixtureDef();
polyFixtureDef.shape = polyShape;
polyFixtureDef.density = 1;
body.CreateFixture(polyFixtureDef); //assertion hits inside here
}
}
public RopeJoint()
{
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);
}
{
b2PolygonShape shape = new b2PolygonShape();
shape.SetAsBox(0.5f, 0.125f);
b2FixtureDef fd = new b2FixtureDef();
fd.shape = shape;
fd.density = 20.0f;
fd.friction = 0.2f;
fd.filter.categoryBits = 0x0001;
fd.filter.maskBits = 0xFFFF & ~0x0002;
b2RevoluteJointDef jd = new b2RevoluteJointDef();
jd.CollideConnected = false;
const int N = 10;
const float y = 15.0f;
m_ropeDef.localAnchorA.Set(0.0f, y);
b2Body prevBody = ground;
for (int i = 0; i < N; ++i)
{
b2BodyDef bd = new b2BodyDef();
bd.type = b2BodyType.b2_dynamicBody;
bd.position.Set(0.5f + 1.0f * i, y);
if (i == N - 1)
{
shape.SetAsBox(1.5f, 1.5f);
fd.density = 100.0f;
fd.filter.categoryBits = 0x0002;
bd.position.Set(1.0f * i, y);
bd.angularDamping = 0.4f;
}
b2Body body = m_world.CreateBody(bd);
body.CreateFixture(fd);
b2Vec2 anchor = new b2Vec2(i, y);
jd.Initialize(prevBody, body, anchor);
m_world.CreateJoint(jd);
prevBody = body;
}
m_ropeDef.localAnchorB.SetZero();
float extraLength = 0.01f;
m_ropeDef.maxLength = N - 1.0f + extraLength;
m_ropeDef.BodyB = prevBody;
}
{
m_ropeDef.BodyA = ground;
m_rope = m_world.CreateJoint(m_ropeDef);
}
}
public TheoJansen()
{
m_offset.Set(0.0f, 8.0f);
m_motorSpeed = 2.0f;
m_motorOn = true;
b2Vec2 pivot = new b2Vec2(0.0f, 0.8f);
// Ground
{
b2BodyDef bd = new b2BodyDef();
b2Body 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);
shape.Set(new b2Vec2(-50.0f, 0.0f), new b2Vec2(-50.0f, 10.0f));
ground.CreateFixture(shape, 0.0f);
shape.Set(new b2Vec2(50.0f, 0.0f), new b2Vec2(50.0f, 10.0f));
ground.CreateFixture(shape, 0.0f);
}
// Balls
for (int i = 0; i < 40; ++i)
{
b2CircleShape shape = new b2CircleShape();
shape.Radius = 0.25f;
b2BodyDef bd = new b2BodyDef();
bd.type = b2BodyType.b2_dynamicBody;
bd.position.Set(-40.0f + 2.0f * i, 0.5f);
b2Body body = m_world.CreateBody(bd);
body.CreateFixture(shape, 1.0f);
}
// Chassis
{
b2PolygonShape shape = new b2PolygonShape();
shape.SetAsBox(2.5f, 1.0f);
b2FixtureDef sd = new b2FixtureDef();
sd.density = 1.0f;
sd.shape = shape;
sd.filter.groupIndex = -1;
b2BodyDef bd = new b2BodyDef();
bd.type = b2BodyType.b2_dynamicBody;
bd.position = pivot + m_offset;
m_chassis = m_world.CreateBody(bd);
m_chassis.CreateFixture(sd);
}
{
b2CircleShape shape = new b2CircleShape();
shape.Radius = 1.6f;
b2FixtureDef sd = new b2FixtureDef();
sd.density = 1.0f;
sd.shape = shape;
sd.filter.groupIndex = -1;
b2BodyDef bd = new b2BodyDef();
bd.type = b2BodyType.b2_dynamicBody;
bd.position = pivot + m_offset;
m_wheel = m_world.CreateBody(bd);
m_wheel.CreateFixture(sd);
}
{
b2RevoluteJointDef jd = new b2RevoluteJointDef();
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 = (b2RevoluteJoint) m_world.CreateJoint(jd);
}
b2Vec2 wheelAnchor = new b2Vec2();
wheelAnchor = pivot + new b2Vec2(0.0f, -0.8f);
CreateLeg(-1.0f, wheelAnchor);
CreateLeg(1.0f, wheelAnchor);
m_wheel.SetTransform(m_wheel.Position, 120.0f * b2Settings.b2_pi / 180.0f);
CreateLeg(-1.0f, wheelAnchor);
CreateLeg(1.0f, wheelAnchor);
m_wheel.SetTransform(m_wheel.Position, -120.0f * b2Settings.b2_pi / 180.0f);
CreateLeg(-1.0f, wheelAnchor);
CreateLeg(1.0f, wheelAnchor);
}
public Pinball()
{
// Ground body
b2Body ground;
{
b2BodyDef bd = new b2BodyDef();
ground = m_world.CreateBody(bd);
b2Vec2[] vs = new b2Vec2[5];
vs[0].Set(0.0f, -2.0f);
vs[1].Set(8.0f, 6.0f);
vs[2].Set(8.0f, 20.0f);
vs[3].Set(-8.0f, 20.0f);
vs[4].Set(-8.0f, 6.0f);
b2ChainShape loop = new b2ChainShape();
loop.CreateLoop(vs, 5);
b2FixtureDef fd = new b2FixtureDef();
fd.shape = loop;
fd.density = 0.0f;
ground.CreateFixture(fd);
}
// Flippers
{
b2Vec2 p1 = new b2Vec2(-2.0f, 0.0f);
b2Vec2 p2 = new b2Vec2(2.0f, 0.0f);
b2BodyDef bd = new b2BodyDef();
bd.type = b2BodyType.b2_dynamicBody;
bd.position = p1;
b2Body leftFlipper = m_world.CreateBody(bd);
bd.position = p2;
b2Body rightFlipper = m_world.CreateBody(bd);
b2PolygonShape box = new b2PolygonShape();
box.SetAsBox(1.75f, 0.1f);
b2FixtureDef fd = new b2FixtureDef();
fd.shape = box;
fd.density = 1.0f;
leftFlipper.CreateFixture(fd);
rightFlipper.CreateFixture(fd);
b2RevoluteJointDef jd = new b2RevoluteJointDef();
jd.BodyA = ground;
jd.localAnchorB.SetZero();
jd.enableMotor = true;
jd.maxMotorTorque = 1000.0f;
jd.enableLimit = true;
jd.motorSpeed = 0.0f;
jd.localAnchorA = p1;
jd.BodyB = leftFlipper;
jd.lowerAngle = -30.0f * b2Settings.b2_pi / 180.0f;
jd.upperAngle = 5.0f * b2Settings.b2_pi / 180.0f;
m_leftJoint = (b2RevoluteJoint) m_world.CreateJoint(jd);
jd.motorSpeed = 0.0f;
jd.localAnchorA = p2;
jd.BodyB = rightFlipper;
jd.lowerAngle = -5.0f * b2Settings.b2_pi / 180.0f;
jd.upperAngle = 30.0f * b2Settings.b2_pi / 180.0f;
m_rightJoint = (b2RevoluteJoint) m_world.CreateJoint(jd);
}
// Circle character
{
b2BodyDef bd = new b2BodyDef();
bd.position.Set(1.0f, 15.0f);
bd.type = b2BodyType.b2_dynamicBody;
bd.bullet = true;
m_ball = m_world.CreateBody(bd);
b2CircleShape shape = new b2CircleShape();
shape.Radius = 0.2f;
b2FixtureDef fd = new b2FixtureDef();
fd.shape = shape;
fd.density = 1.0f;
m_ball.CreateFixture(fd);
}
m_button = false;
}
public Dominos()
{
b2Body b1;
{
b2EdgeShape shape = new b2EdgeShape();
shape.Set(new b2Vec2(-40.0f, 0.0f), new b2Vec2(40.0f, 0.0f));
b2BodyDef bd = new b2BodyDef();
b1 = m_world.CreateBody(bd);
b1.CreateFixture(shape, 0.0f);
}
{
b2PolygonShape shape = new b2PolygonShape();
shape.SetAsBox(6.0f, 0.25f);
b2BodyDef bd = new b2BodyDef();
bd.position.Set(-1.5f, 10.0f);
b2Body ground = m_world.CreateBody(bd);
ground.CreateFixture(shape, 0.0f);
}
{
b2PolygonShape shape = new b2PolygonShape();
shape.SetAsBox(0.1f, 1.0f);
b2FixtureDef fd = new b2FixtureDef();
fd.shape = shape;
fd.density = 20.0f;
fd.friction = 0.1f;
for (int i = 0; i < 10; ++i)
{
b2BodyDef bd = new b2BodyDef();
bd.type = b2BodyType.b2_dynamicBody;
bd.position.Set(-6.0f + 1.0f * i, 11.25f);
b2Body body = m_world.CreateBody(bd);
body.CreateFixture(fd);
}
}
{
b2PolygonShape shape = new b2PolygonShape();
shape.SetAsBox(7.0f, 0.25f, b2Vec2.Zero, 0.3f);
b2BodyDef bd = new b2BodyDef();
bd.position.Set(1.0f, 6.0f);
b2Body ground = m_world.CreateBody(bd);
ground.CreateFixture(shape, 0.0f);
}
b2Body b2;
{
b2PolygonShape shape = new b2PolygonShape();
shape.SetAsBox(0.25f, 1.5f);
b2BodyDef bd = new b2BodyDef();
bd.position.Set(-7.0f, 4.0f);
b2 = m_world.CreateBody(bd);
b2.CreateFixture(shape, 0.0f);
}
b2Body b3;
{
b2PolygonShape shape = new b2PolygonShape();
shape.SetAsBox(6.0f, 0.125f);
b2BodyDef bd = new b2BodyDef();
bd.type = b2BodyType.b2_dynamicBody;
bd.position.Set(-0.9f, 1.0f);
bd.angle = -0.15f;
b3 = m_world.CreateBody(bd);
b3.CreateFixture(shape, 10.0f);
}
b2RevoluteJointDef jd = new b2RevoluteJointDef();
b2Vec2 anchor = new b2Vec2();
anchor.Set(-2.0f, 1.0f);
jd.Initialize(b1, b3, anchor);
jd.CollideConnected = true;
m_world.CreateJoint(jd);
b2Body b4;
{
b2PolygonShape shape = new b2PolygonShape();
shape.SetAsBox(0.25f, 0.25f);
b2BodyDef bd = new b2BodyDef();
bd.type = b2BodyType.b2_dynamicBody;
bd.position.Set(-10.0f, 15.0f);
b4 = m_world.CreateBody(bd);
b4.CreateFixture(shape, 10.0f);
}
anchor.Set(-7.0f, 15.0f);
jd.Initialize(b2, b4, anchor);
m_world.CreateJoint(jd);
b2Body b5;
{
b2BodyDef bd = new b2BodyDef();
bd.type = b2BodyType.b2_dynamicBody;
bd.position.Set(6.5f, 3.0f);
b5 = m_world.CreateBody(bd);
b2PolygonShape shape = new b2PolygonShape();
b2FixtureDef fd = new b2FixtureDef();
fd.shape = shape;
fd.density = 10.0f;
fd.friction = 0.1f;
shape.SetAsBox(1.0f, 0.1f, new b2Vec2(0.0f, -0.9f), 0.0f);
b5.CreateFixture(fd);
shape.SetAsBox(0.1f, 1.0f, new b2Vec2(-0.9f, 0.0f), 0.0f);
b5.CreateFixture(fd);
shape.SetAsBox(0.1f, 1.0f, new b2Vec2(0.9f, 0.0f), 0.0f);
b5.CreateFixture(fd);
}
anchor.Set(6.0f, 2.0f);
jd.Initialize(b1, b5, anchor);
m_world.CreateJoint(jd);
b2Body b6;
{
b2PolygonShape shape = new b2PolygonShape();
shape.SetAsBox(1.0f, 0.1f);
b2BodyDef bd = new b2BodyDef();
bd.type = b2BodyType.b2_dynamicBody;
bd.position.Set(6.5f, 4.1f);
b6 = m_world.CreateBody(bd);
b6.CreateFixture(shape, 30.0f);
}
anchor.Set(7.5f, 4.0f);
jd.Initialize(b5, b6, anchor);
m_world.CreateJoint(jd);
b2Body b7;
{
b2PolygonShape shape = new b2PolygonShape();
shape.SetAsBox(0.1f, 1.0f);
b2BodyDef bd = new b2BodyDef();
bd.type = b2BodyType.b2_dynamicBody;
bd.position.Set(7.4f, 1.0f);
b7 = m_world.CreateBody(bd);
b7.CreateFixture(shape, 10.0f);
}
b2DistanceJointDef djd = new b2DistanceJointDef();
djd.BodyA = b3;
djd.BodyB = b7;
djd.localAnchorA.Set(6.0f, 0.0f);
djd.localAnchorB.Set(0.0f, -1.0f);
b2Vec2 d = djd.BodyB.GetWorldPoint(djd.localAnchorB) - djd.BodyA.GetWorldPoint(djd.localAnchorA);
djd.length = d.Length;
m_world.CreateJoint(djd);
{
float radius = 0.2f;
b2CircleShape shape = new b2CircleShape();
shape.Radius = radius;
for (int i = 0; i < 4; ++i)
{
b2BodyDef bd = new b2BodyDef();
bd.type = b2BodyType.b2_dynamicBody;
bd.position.Set(5.9f + 2.0f * radius * i, 2.4f);
b2Body body = m_world.CreateBody(bd);
body.CreateFixture(shape, 10.0f);
}
}
}
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);
}
}
// SIN REVISAR
b2Joint j2b2Joint(b2World world, JObject jointValue)
{
b2Joint joint = null;
int bodyIndexA = (int)jointValue["bodyA"];
int bodyIndexB = (int)jointValue["bodyB"];
if (bodyIndexA >= m_bodies.Count || bodyIndexB >= m_bodies.Count)
return null;
// set features common to all joints
//var bodyA = m_bodies[bodyIndexA];
//var bodyB = m_bodies[bodyIndexB];
//var collideConnected = jointValue["collideConnected"] == null ? false : (bool)jointValue["collideConnected"];
// keep these in scope after the if/else below
b2RevoluteJointDef revoluteDef;
b2PrismaticJointDef prismaticDef;
b2DistanceJointDef distanceDef;
b2PulleyJointDef pulleyDef;
b2MouseJointDef mouseDef;
b2GearJointDef gearDef;
//b2WheelJoint wheelDef;
b2WeldJointDef weldDef;
b2FrictionJointDef frictionDef;
b2RopeJointDef ropeDef;
//MotorJoint motorDef;
b2JointDef jointDef = null;
b2Vec2 mouseJointTarget = new b2Vec2(0, 0);
string type = jointValue["type"].ToString() == null ? "" : jointValue["type"].ToString();
if (type == "revolute")
{
jointDef = revoluteDef = new b2RevoluteJointDef(); // JointFactory.CreateRevoluteJoint(world, bodyA, bodyB, jsonToVec("anchorB", jointValue));
revoluteDef.localAnchorA = jsonToVec("anchorA", jointValue);
revoluteDef.localAnchorB = jsonToVec("anchorB", jointValue);
revoluteDef.referenceAngle = jsonToFloat("refAngle", jointValue);
revoluteDef.enableLimit = jointValue["enableLimit"] == null ? false : (bool)jointValue["enableLimit"];
revoluteDef.lowerAngle = jsonToFloat("lowerLimit", jointValue);
revoluteDef.upperAngle = jsonToFloat("upperLimit", jointValue);
revoluteDef.enableMotor = jointValue["enableMotor"] == null ? false : (bool)jointValue["enableMotor"];
revoluteDef.motorSpeed = jsonToFloat("motorSpeed", jointValue);
revoluteDef.maxMotorTorque = jsonToFloat("maxMotorTorque", jointValue);
}
else if (type == "prismatic")
{
jointDef = prismaticDef = new b2PrismaticJointDef(); //JointFactory.CreatePrismaticJoint(world, bodyA, bodyB, localAnchorB, localAxis);
prismaticDef.localAnchorA = jsonToVec("anchorA", jointValue);
prismaticDef.localAnchorB = jsonToVec("anchorB", jointValue);
if (jointValue["localAxisA"] != null)
prismaticDef.localAxisA = jsonToVec("localAxisA", jointValue);
else
prismaticDef.localAxisA = jsonToVec("localAxis1", jointValue);
prismaticDef.referenceAngle = jsonToFloat("refAngle", jointValue);
prismaticDef.enableLimit = jointValue["enableLimit"] == null ? false : (bool)jointValue["enableLimit"];
prismaticDef.lowerTranslation = jsonToFloat("lowerLimit", jointValue);
prismaticDef.upperTranslation = jsonToFloat("upperLimit", jointValue);
prismaticDef.enableMotor = jointValue["enableMotor"] == null ? false : (bool)jointValue["enableMotor"];
prismaticDef.motorSpeed = jsonToFloat("motorSpeed", jointValue);
prismaticDef.maxMotorForce = jsonToFloat("maxMotorForce", jointValue);
}
else if (type == "distance")
{
jointDef = distanceDef = new b2DistanceJointDef();
distanceDef.localAnchorA = jsonToVec("anchorA", jointValue);
distanceDef.localAnchorB = jsonToVec("anchorB", jointValue);
distanceDef.length = jsonToFloat("length", jointValue);
distanceDef.frequencyHz = jsonToFloat("frequency", jointValue);
distanceDef.dampingRatio = jsonToFloat("dampingRatio", jointValue);
}
else if (type == "pulley")
{
jointDef = pulleyDef = new b2PulleyJointDef();
pulleyDef.groundAnchorA = jsonToVec("groundAnchorA", jointValue);
pulleyDef.groundAnchorB = jsonToVec("groundAnchorB", jointValue);
pulleyDef.localAnchorA = jsonToVec("anchorA", jointValue);
pulleyDef.localAnchorB = jsonToVec("anchorB", jointValue);
pulleyDef.lengthA = jsonToFloat("lengthA", jointValue);
pulleyDef.lengthB = jsonToFloat("lengthB", jointValue);
pulleyDef.ratio = jsonToFloat("ratio", jointValue);
}
else if (type == "mouse")
{
jointDef = mouseDef = new b2MouseJointDef();
mouseJointTarget = jsonToVec("target", jointValue);
mouseDef.target = jsonToVec("anchorB", jointValue);// alter after creating joint
mouseDef.maxForce = jsonToFloat("maxForce", jointValue);
mouseDef.frequencyHz = jsonToFloat("frequency", jointValue);
mouseDef.dampingRatio = jsonToFloat("dampingRatio", jointValue);
}
// Gear joints are apparently not implemented in JBox2D yet, but
// when they are, commenting out the following section should work.
else if (type == "gear")
{
jointDef = gearDef = new b2GearJointDef(); //JointFactory.CreateGearJoint(world, joint1, joint2, ratio);
int jointIndex1 = (int)jointValue["joint1"];
int jointIndex2 = (int)jointValue["joint2"];
var joint1 = m_joints[jointIndex1];
var joint2 = m_joints[jointIndex2];
var ratio = jsonToFloat("ratio", jointValue);
//joint = gearDef = JointFactory.CreateGearJoint(world, joint1, joint2, ratio);
}
// Wheel joints are apparently not implemented in JBox2D yet, but
// when they are, commenting out the following section should work.
else if (type == "wheel")
{
jointDef = revoluteDef = new b2RevoluteJointDef();
revoluteDef.localAnchorA = jsonToVec("anchorA", jointValue);
revoluteDef.localAnchorB = jsonToVec("anchorB", jointValue);
revoluteDef.enableMotor = jointValue["enableMotor"] == null ? false : (bool)jointValue["enableMotor"];
revoluteDef.motorSpeed = jsonToFloat("motorSpeed", jointValue);
revoluteDef.maxMotorTorque = jsonToFloat("maxMotorTorque", jointValue);
//jointDef = wheelDef = new b2WheelJointDef(); //JointFactory.CreateWheelJoint(world, bodyA, bodyB, localAnchorB, localAxisA);
//var localAnchorA = jsonToVec("anchorA", jointValue);
//var localAnchorB = (jsonToVec("anchorB", jointValue));
//var localAxisA = (jsonToVec("localAxisA", jointValue));
//var enableMotor = jointValue["enableMotor"] == null ? false : (bool)jointValue["enableMotor"];
//var motorSpeed = jsonToFloat("motorSpeed", jointValue);
//var maxMotorTorque = jsonToFloat("maxMotorTorque", jointValue);
//var frequencyHz = jsonToFloat("springFrequency", jointValue);
//var dampingRatio = jsonToFloat("springDampingRatio", jointValue);
//wheelDef.LocalAnchorA = localAnchorA;
//wheelDef.LocalAnchorB = localAnchorB;
//wheelDef.MotorEnabled = enableMotor;
//wheelDef.MotorSpeed = motorSpeed;
//wheelDef.SpringFrequencyHz = frequencyHz;
//wheelDef.MaxMotorTorque = maxMotorTorque;
//wheelDef.SpringDampingRatio = dampingRatio;
}
else if (type == "weld")
{
jointDef = weldDef = new b2WeldJointDef();
weldDef.localAnchorA = jsonToVec("anchorA", jointValue);
weldDef.localAnchorB = jsonToVec("anchorB", jointValue);
weldDef.referenceAngle = 0;
}
else if (type == "friction")
{
jointDef = frictionDef = new b2FrictionJointDef();
frictionDef.localAnchorA = jsonToVec("anchorA", jointValue);
frictionDef.localAnchorB = jsonToVec("anchorB", jointValue);
frictionDef.maxForce = jsonToFloat("maxForce", jointValue);
frictionDef.maxTorque = jsonToFloat("maxTorque", jointValue);
}
else if (type == "rope")
{
jointDef = ropeDef = new b2RopeJointDef();
ropeDef.localAnchorA = jsonToVec("anchorA", jointValue);
ropeDef.localAnchorB = jsonToVec("anchorB", jointValue);
ropeDef.maxLength = jsonToFloat("maxLength", jointValue);
}
//else if (type == "motor")
//{
// var maxForce = jsonToFloat("maxForce", jointValue);
// var maxMotorTorque = jsonToFloat("maxTorque", jointValue);
// var angularOffset = jsonToFloat("refAngle", jointValue);
// joint = motorDef = new MotorJoint(bodyA, bodyB);
// world.AddJoint(joint);
// motorDef.LinearOffset = jsonToVec("anchorA", jointValue);
// motorDef.MaxForce = maxForce;
// motorDef.MaxTorque = maxMotorTorque;
// motorDef.AngularOffset = angularOffset;
//}
if (null != jointDef)
{
// set features common to all joints
jointDef.BodyA = m_bodies[bodyIndexA];
jointDef.BodyB = m_bodies[bodyIndexB];
jointDef.CollideConnected = jointValue["collideConnected"] == null ? false : (bool)jointValue["collideConnected"];
joint = world.CreateJoint(jointDef);
if (type.Equals("mouse"))
((b2MouseJoint)joint).SetTarget(mouseJointTarget);
String jointName = jointValue["name"] == null ? "" : (string)jointValue["name"];
if (!jointName.Equals(""))
{
SetJointName(joint, jointName);
}
}
return joint;
}
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);
}
}
}
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);
}
}
public CircleStress()
{
b2Body leftWall = null;
b2Body rightWall = null;
{
// Ground
b2PolygonShape sd = new b2PolygonShape();
sd.SetAsBox(50.0f, 10.0f);
b2BodyDef bd = new b2BodyDef();
bd.type = b2BodyType.b2_staticBody;
bd.position = new b2Vec2(0.0f, -10.0f);
b2Body b = m_world.CreateBody(bd);
b2FixtureDef fd = new b2FixtureDef();
fd.shape = sd;
fd.friction = 1.0f;
b.CreateFixture(fd);
// Walls
sd.SetAsBox(3.0f, 50.0f);
bd = new b2BodyDef();
bd.position = new b2Vec2(45.0f, 25.0f);
rightWall = m_world.CreateBody(bd);
rightWall.CreateFixture(sd, 0);
bd.position = new b2Vec2(-45.0f, 25.0f);
leftWall = m_world.CreateBody(bd);
leftWall.CreateFixture(sd, 0);
// Corners
bd = new b2BodyDef();
sd.SetAsBox(20.0f, 3.0f);
bd.angle = (float)(-Math.PI / 4.0);
bd.position = new b2Vec2(-35f, 8.0f);
b2Body myBod = m_world.CreateBody(bd);
myBod.CreateFixture(sd, 0);
bd.angle = (float)(Math.PI / 4.0);
bd.position = new b2Vec2(35f, 8.0f);
myBod = m_world.CreateBody(bd);
myBod.CreateFixture(sd, 0);
// top
sd.SetAsBox(50.0f, 10.0f);
bd.type = b2BodyType.b2_staticBody;
bd.angle = 0;
bd.position = new b2Vec2(0.0f, 75.0f);
b = m_world.CreateBody(bd);
fd.shape = sd;
fd.friction = 1.0f;
b.CreateFixture(fd);
}
{
b2CircleShape cd;
b2FixtureDef fd = new b2FixtureDef();
b2BodyDef bd = new b2BodyDef();
bd.type = b2BodyType.b2_dynamicBody;
int numPieces = 5;
float radius = 6f;
bd.position = new b2Vec2(0.0f, 10.0f);
b2Body body = m_world.CreateBody(bd);
for (int i = 0; i < numPieces; i++)
{
cd = new b2CircleShape();
cd.Radius = 1.2f;
fd.shape = cd;
fd.density = 25;
fd.friction = .1f;
fd.restitution = .9f;
float xPos = radius * (float) Math.Cos(2f * Math.PI * (i / (float) (numPieces)));
float yPos = radius * (float) Math.Sin(2f * Math.PI * (i / (float) (numPieces)));
cd.Position.Set(xPos, yPos);
body.CreateFixture(fd);
}
body.SetBullet(false);
b2RevoluteJointDef rjd = new b2RevoluteJointDef();
rjd.Initialize(body, m_groundBody, body.Position);
rjd.motorSpeed = (float) Math.PI;
rjd.maxMotorTorque = 1000000.0f;
rjd.enableMotor = true;
joint = (b2RevoluteJoint) m_world.CreateJoint(rjd);
}
{
int loadSize = 41;
for (int j = 0; j < 15; j++)
{
for (int i = 0; i < loadSize; i++)
{
b2CircleShape circ = new b2CircleShape();
b2BodyDef bod = new b2BodyDef();
bod.type = b2BodyType.b2_dynamicBody;
circ.Radius = 1.0f + (i % 2 == 0 ? 1.0f : -1.0f) * .5f * Rand.RandomFloat(.5f, 1f);
b2FixtureDef fd2 = new b2FixtureDef();
fd2.shape = circ;
fd2.density = circ.Radius * 1.5f;
fd2.friction = 0.5f;
fd2.restitution = 0.7f;
float xPos = -39f + 2 * i;
float yPos = 50f + j;
bod.position = new b2Vec2(xPos, yPos);
b2Body myBody = m_world.CreateBody(bod);
myBody.CreateFixture(fd2);
}
}
}
m_world.Gravity = new b2Vec2(0, -50);
}
public Bridge()
{
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(0.5f, 0.125f);
b2FixtureDef fd = new b2FixtureDef();
fd.shape = shape;
fd.density = 20.0f;
fd.friction = 0.2f;
b2RevoluteJointDef jd = new b2RevoluteJointDef();
b2Body prevBody = ground;
for (int i = 0; i < e_count; ++i)
{
b2BodyDef bd = new b2BodyDef();
bd.type = b2BodyType.b2_dynamicBody;
bd.position = new b2Vec2(-14.5f + 1.0f * i, 5.0f);
b2Body body = m_world.CreateBody(bd);
body.CreateFixture(fd);
b2Vec2 anchor = new b2Vec2(-15.0f + 1.0f * i, 5.0f);
jd.Initialize(prevBody, body, anchor);
m_world.CreateJoint(jd);
if (i == (e_count >> 1))
{
m_middle = body;
}
prevBody = body;
}
b2Vec2 anchor1 = new b2Vec2(-15.0f + 1.0f * e_count, 5.0f);
jd.Initialize(prevBody, ground, anchor1);
m_world.CreateJoint(jd);
}
for (int i = 0; i < 2; ++i)
{
b2Vec2[] vertices = new b2Vec2[3];
vertices[0].Set(-0.5f, 0.0f);
vertices[1].Set(0.5f, 0.0f);
vertices[2].Set(0.0f, 1.5f);
b2PolygonShape shape = new b2PolygonShape();
shape.Set(vertices, 3);
b2FixtureDef fd = new b2FixtureDef();
fd.shape = shape;
fd.density = 1.0f;
b2BodyDef bd = new b2BodyDef();
bd.type = b2BodyType.b2_dynamicBody;
bd.position = new b2Vec2(-8.0f + 8.0f * i, 12.0f);
b2Body body = m_world.CreateBody(bd);
body.CreateFixture(fd);
}
for (int i = 0; i < 3; ++i)
{
b2CircleShape shape = new b2CircleShape();
shape.Radius = 0.5f;
b2FixtureDef fd = new b2FixtureDef();
fd.shape = shape;
fd.density = 1.0f;
b2BodyDef bd = new b2BodyDef();
bd.type = b2BodyType.b2_dynamicBody;
bd.position.Set(-6.0f + 6.0f * i, 10.0f);
b2Body body = m_world.CreateBody(bd);
body.CreateFixture(fd);
}
}
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);
}
}