internal RevoluteJoint(RevoluteJointDef def)
: base(def)
{
_localAnchor1 = def.localAnchorA;
_localAnchor2 = def.localAnchorB;
_referenceAngle = def.referenceAngle;
_impulse = Vector3.zero;
_motorImpulse = 0.0f;
_lowerAngle = def.lowerAngle;
_upperAngle = def.upperAngle;
_maxMotorTorque = def.maxMotorTorque;
_motorSpeed = def.motorSpeed;
_enableLimit = def.enableLimit;
_enableMotor = def.enableMotor;
_limitState = LimitState.Inactive;
}
public Chain()
{
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(0.6f, 0.125f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.Density = 20.0f;
fd.friction = 0.2f;
RevoluteJointDef jd = new RevoluteJointDef();
jd.collideConnected = false;
const float y = 25.0f;
Body prevBody = ground;
for (int i = 0; i < 30; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(0.5f + i, y);
Body body = m_world.CreateBody(bd);
body.CreateFixture(fd);
Vec2 anchor = new Vec2((float)(i), y);
jd.Initialize(prevBody, body, anchor);
m_world.CreateJoint(jd);
prevBody = body;
}
}
}
public Body AddNode(Body parent, Vec2 localAnchor, int depth, float offset, float a)
{
Vec2 h = new Vec2(0.0f, a);
Vec2 p = parent.GetPosition() + localAnchor - h;
BodyDef bodyDef = new BodyDef();
bodyDef.type = BodyType._dynamicBody;
bodyDef.Position = p;
Body body = m_world.CreateBody(bodyDef);
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.25f * a, a);
shape.Density = 20;
body.CreateFixture(shape);
if (depth == e_depth)
{
return body;
}
shape.SetAsBox(offset, 0.25f * a, new Vec2(0, -a), 0.0f);
body.CreateFixture(shape);
Vec2 a1 = new Vec2(offset, -a);
Vec2 a2 = new Vec2(-offset, -a);
Body body1 = AddNode(body, a1, depth + 1, 0.5f * offset, a);
Body body2 = AddNode(body, a2, depth + 1, 0.5f * offset, a);
RevoluteJointDef jointDef = new RevoluteJointDef();
jointDef.bodyA = body;
jointDef.localAnchorB = h;
jointDef.localAnchorA = a1;
jointDef.bodyB = body1;
m_world.CreateJoint(jointDef);
jointDef.localAnchorA = a2;
jointDef.bodyB = body2;
m_world.CreateJoint(jointDef);
return body;
}
public Tumbler()
{
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = m_world.CreateBody(bd);
}
{
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.allowSleep = false;
bd.Position.Set(0.0f, 10.0f);
Body body = m_world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.Density = 5;
shape.SetAsBox(0.5f, 10.0f, new Vec2( 10.0f, 0.0f), 0.0f);
body.CreateFixture(shape);
shape.SetAsBox(0.5f, 10.0f, new Vec2(-10.0f, 0.0f), 0.0f);
body.CreateFixture(shape);
shape.SetAsBox(10.0f, 0.5f, new Vec2(0.0f, 10.0f), 0.0f);
body.CreateFixture(shape);
shape.SetAsBox(10.0f, 0.5f, new Vec2(0.0f, -10.0f), 0.0f);
body.CreateFixture(shape);
RevoluteJointDef jd = new RevoluteJointDef();
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 * (float)Math.PI;
jd.maxMotorTorque = 1e8f;
jd.enableMotor = true;
m_joint = (RevoluteJoint)m_world.CreateJoint(jd);
}
m_count = 0;
}
public MobileBalanced()
{
Body ground;
// Create ground body.
{
BodyDef bodyDef = new BodyDef();
bodyDef.Position.Set(0.0f, 20.0f);
ground = m_world.CreateBody(bodyDef);
}
float a = 0.5f;
Vec2 h = new Vec2(0.0f, a);
Body root = AddNode(ground, new Vec2(0, 0), 0, 3.0f, a);
RevoluteJointDef jointDef = new RevoluteJointDef();
jointDef.bodyA = ground;
jointDef.bodyB = root;
jointDef.localAnchorA.SetZero();
jointDef.localAnchorB = h;
m_world.CreateJoint(jointDef);
}
public Revolute()
{
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));
FixtureDef fd = new FixtureDef();
fd.shape = shape;
//fd.Filter.CategoryBits = 2;
ground.CreateFixture(fd);
}
{
CircleShape shape = new CircleShape();
shape.m_radius = 0.5f;
shape.Density = 5;
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
RevoluteJointDef rjd = new RevoluteJointDef();
bd.Position.Set(-10.0f, 20.0f);
Body body = m_world.CreateBody(bd);
body.CreateFixture(shape);
float w = 100.0f;
body.SetAngularVelocity(w);
body.SetLinearVelocity(new Vec2(-8.0f * w, 0.0f));
rjd.Initialize(ground, body, new Vec2(-10.0f, 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);
}
{
CircleShape circle_shape = new CircleShape();
circle_shape.m_radius = 3.0f;
BodyDef circle_bd = new BodyDef();
circle_bd.type = BodyType._dynamicBody;
circle_bd.Position.Set(5.0f, 30.0f);
FixtureDef fd = new FixtureDef();
fd.Density = 5.0f;
fd.Filter.MaskBits = 1;
fd.shape = circle_shape;
m_ball = m_world.CreateBody(circle_bd);
m_ball.CreateFixture(fd);
PolygonShape polygon_shape = new PolygonShape();
polygon_shape.SetAsBox(10.0f, 0.2f, new Vec2(-10.0f, 0.0f), 0.0f);
polygon_shape.Density = 2;
BodyDef polygon_bd = new BodyDef();
polygon_bd.Position.Set(20.0f, 10.0f);
polygon_bd.type = BodyType._dynamicBody;
polygon_bd.bullet = true;
Body polygon_body = m_world.CreateBody(polygon_bd);
polygon_body.CreateFixture(polygon_shape);
RevoluteJointDef rjd = new RevoluteJointDef();
rjd.Initialize(ground, polygon_body, new Vec2(20.0f, 10.0f));
rjd.lowerAngle = -0.25f * (float)Math.PI;
rjd.upperAngle = 0.0f * (float)Math.PI;
rjd.enableLimit = true;
m_world.CreateJoint(rjd);
}
// Tests mass computation of a small object far from the origin
{
BodyDef bodyDef = new BodyDef();
bodyDef.type = BodyType._dynamicBody;
Body body = m_world.CreateBody(bodyDef);
PolygonShape polyShape = new PolygonShape();
Vec2[] verts = new Vec2[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);
FixtureDef polyFixtureDef = new FixtureDef();
polyFixtureDef.shape = polyShape;
polyFixtureDef.Density = 1;
body.CreateFixture(polyFixtureDef); //assertion hits inside here
}
}
public BodyTypes()
{
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = m_world.CreateBody(bd);
EdgeShape shape = new EdgeShape();
shape.Set(new Vec2(-20.0f, 0.0f), new Vec2(20.0f, 0.0f));
FixtureDef fd = new FixtureDef();
fd.shape = shape;
ground.CreateFixture(fd);
}
// Define attachment
{
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(0.0f, 3.0f);
m_attachment = m_world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.5f, 2.0f);
shape.Density = 2;
m_attachment.CreateFixture(shape);
}
// Define platform
{
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(-4.0f, 5.0f);
m_platform = m_world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.5f, 4.0f, new Vec2(4.0f, 0.0f), 0.5f * (float)Math.PI);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.friction = 0.6f;
fd.Density = 2.0f;
m_platform.CreateFixture(fd);
RevoluteJointDef rjd = new RevoluteJointDef();
rjd.Initialize(m_attachment, m_platform, new Vec2(0.0f, 5.0f));
rjd.maxMotorTorque = 50.0f;
rjd.enableMotor = true;
m_world.CreateJoint(rjd);
PrismaticJointDef pjd = new PrismaticJointDef();
pjd.Initialize(ground, m_platform, new Vec2(0.0f, 5.0f), new Vec2(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
{
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(0.0f, 8.0f);
Body body = m_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 RopeJointTest()
{
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(0.5f, 0.125f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.Density = 20.0f;
fd.friction = 0.2f;
fd.Filter.CategoryBits = 0x0001;
fd.Filter.MaskBits = 0xFFFF & ~0x0002;
RevoluteJointDef jd = new RevoluteJointDef();
jd.collideConnected = false;
const int N = 10;
const float y = 15.0f;
m_ropeDef.localAnchorA.Set(0.0f, y);
Body prevBody = ground;
for (int i = 0; i < N; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType._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;
}
Body body = m_world.CreateBody(bd);
body.CreateFixture(fd);
Vec2 anchor = new Vec2((float)(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 Car()
{
m_hz = 4.0f;
m_zeta = 0.7f;
m_speed = 50.0f;
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = m_world.CreateBody(bd);
EdgeShape shape = new EdgeShape();
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.Density = 0.0f;
fd.friction = 0.6f;
shape.Set(new Vec2(-20.0f, 0.0f), new Vec2(20.0f, 0.0f));
ground.CreateFixture(fd);
float[] hs = new float[]{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 Vec2(x, y1), new Vec2(x + dx, y2));
ground.CreateFixture(fd);
y1 = y2;
x += dx;
}
for (int i = 0; i < 10; ++i)
{
float y2 = hs[i];
shape.Set(new Vec2(x, y1), new Vec2(x + dx, y2));
ground.CreateFixture(fd);
y1 = y2;
x += dx;
}
shape.Set(new Vec2(x, 0.0f), new Vec2(x + 40.0f, 0.0f));
ground.CreateFixture(fd);
x += 80.0f;
shape.Set(new Vec2(x, 0.0f), new Vec2(x + 40.0f, 0.0f));
ground.CreateFixture(fd);
x += 40.0f;
shape.Set(new Vec2(x, 0.0f), new Vec2(x + 10.0f, 5.0f));
ground.CreateFixture(fd);
x += 20.0f;
shape.Set(new Vec2(x, 0.0f), new Vec2(x + 40.0f, 0.0f));
ground.CreateFixture(fd);
x += 40.0f;
shape.Set(new Vec2(x, 0.0f), new Vec2(x, 20.0f));
ground.CreateFixture(fd);
}
// Teeter
{
BodyDef bd = new BodyDef();
bd.Position.Set(140.0f, 1.0f);
bd.type = BodyType._dynamicBody;
Body body = m_world.CreateBody(bd);
PolygonShape box = new PolygonShape();
box.SetAsBox(10.0f, 0.25f);
box.Density = 1;
body.CreateFixture(box);
RevoluteJointDef jd = new RevoluteJointDef();
jd.Initialize(ground, body, body.GetPosition());
jd.lowerAngle = -8.0f * (float)Math.PI / 180.0f;
jd.upperAngle = 8.0f * (float)Math.PI / 180.0f;
jd.enableLimit = true;
m_world.CreateJoint(jd);
body.ApplyAngularImpulse(100.0f, true);
}
// Bridge
{
int N = 20;
PolygonShape shape = new PolygonShape();
shape.SetAsBox(1.0f, 0.125f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.Density = 1.0f;
fd.friction = 0.6f;
RevoluteJointDef jd = new RevoluteJointDef();
Body prevBody = ground;
for (int i = 0; i < N; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(161.0f + 2.0f * i, -0.125f);
Body body = m_world.CreateBody(bd);
body.CreateFixture(fd);
Vec2 anchor = new Vec2(160.0f + 2.0f * i, -0.125f);
jd.Initialize(prevBody, body, anchor);
m_world.CreateJoint(jd);
prevBody = body;
}
Vec2 anchor2 = new Vec2(160.0f + 2.0f * N, -0.125f);
jd.Initialize(prevBody, ground, anchor2);
m_world.CreateJoint(jd);
}
// Boxes
{
PolygonShape box = new PolygonShape();
box.SetAsBox(0.5f, 0.5f);
box.Density = 0.5f;
Body body = null;
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(230.0f, 0.5f);
body = m_world.CreateBody(bd);
body.CreateFixture(box);
bd.Position.Set(230.0f, 1.5f);
body = m_world.CreateBody(bd);
body.CreateFixture(box);
bd.Position.Set(230.0f, 2.5f);
body = m_world.CreateBody(bd);
body.CreateFixture(box);
bd.Position.Set(230.0f, 3.5f);
body = m_world.CreateBody(bd);
body.CreateFixture(box);
bd.Position.Set(230.0f, 4.5f);
body = m_world.CreateBody(bd);
body.CreateFixture(box);
}
// Car
{
PolygonShape chassis = new PolygonShape();
Vec2[] vertices = new Vec2[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);
CircleShape circle = new CircleShape();
circle.m_radius = 0.4f;
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(0.0f, 1.0f);
m_car = m_world.CreateBody(bd);
m_car.CreateFixture(chassis);
FixtureDef fd = new FixtureDef();
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);
WheelJointDef jd = new WheelJointDef();
Vec2 axis = new Vec2(0.0f, 1.0f);
jd.Initialize(m_car, m_wheel1, m_wheel1.GetPosition(), axis);
jd.motorSpeed = 0.0f;
jd.maxMotorTorque = 20.0f;
jd.enableMotor = true;
jd.frequencyHz = m_hz;
jd.dampingRatio = m_zeta;
m_spring1 = (WheelJoint)m_world.CreateJoint(jd);
jd.Initialize(m_car, m_wheel2, m_wheel2.GetPosition(), axis);
jd.motorSpeed = 0.0f;
jd.maxMotorTorque = 10.0f;
jd.enableMotor = false;
jd.frequencyHz = m_hz;
jd.dampingRatio = m_zeta;
m_spring2 = (WheelJoint)m_world.CreateJoint(jd);
}
}
internal RevoluteJoint(RevoluteJointDef 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 = LimitState.e_inactiveLimit;
}
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 void CreateLeg(float s, Vec2 wheelAnchor)
{
Vec2 p1 = new Vec2(5.4f * s, -6.1f);
Vec2 p2 = new Vec2(7.2f * s, -1.2f);
Vec2 p3 = new Vec2(4.3f * s, -1.9f);
Vec2 p4 = new Vec2(3.1f * s, 0.8f);
Vec2 p5 = new Vec2(6.0f * s, 1.5f);
Vec2 p6 = new Vec2(2.5f * s, 3.7f);
FixtureDef fd1 = new FixtureDef();
FixtureDef fd2 = new FixtureDef();
fd1.Filter.GroupIndex = -1;
fd2.Filter.GroupIndex = -1;
fd1.Density = 1.0f;
fd2.Density = 1.0f;
PolygonShape poly1 = new PolygonShape();
PolygonShape poly2 = new PolygonShape();
if (s > 0.0f)
{
Vec2[] vertices = new Vec2[3];
vertices[0] = p1;
vertices[1] = p2;
vertices[2] = p3;
poly1.Set(vertices, 3);
vertices[0] = new Vec2(0, 0);
vertices[1] = p5 - p4;
vertices[2] = p6 - p4;
poly2.Set(vertices, 3);
}
else
{
Vec2[] vertices = new Vec2[3];
vertices[0] = p1;
vertices[1] = p3;
vertices[2] = p2;
poly1.Set(vertices, 3);
vertices[0] = new Vec2(0, 0);
vertices[1] = p6 - p4;
vertices[2] = p5 - p4;
poly2.Set(vertices, 3);
}
fd1.shape = poly1;
fd2.shape = poly2;
BodyDef bd1 = new BodyDef();
BodyDef bd2 = new BodyDef();
bd1.type = BodyType._dynamicBody;
bd2.type = BodyType._dynamicBody;
bd1.Position = m_offset;
bd2.Position = p4 + m_offset;
bd1.angularDamping = 10.0f;
bd2.angularDamping = 10.0f;
Body body1 = m_world.CreateBody(bd1);
Body body2 = m_world.CreateBody(bd2);
body1.CreateFixture(fd1);
body2.CreateFixture(fd2);
DistanceJointDef djd = new DistanceJointDef();
// 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);
RevoluteJointDef rjd = new RevoluteJointDef();
rjd.Initialize(body2, m_chassis, p4 + m_offset);
m_world.CreateJoint(rjd);
}
public TheoJansen()
{
m_offset.Set(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);
EdgeShape shape = new EdgeShape();
shape.Density = 0;
shape.Set(new Vec2(-50.0f, 0.0f), new Vec2(50.0f, 0.0f));
ground.CreateFixture(shape);
shape.Set(new Vec2(-50.0f, 0.0f), new Vec2(-50.0f, 10.0f));
ground.CreateFixture(shape);
shape.Set(new Vec2(50.0f, 0.0f), new Vec2(50.0f, 10.0f));
ground.CreateFixture(shape);
}
// Balls
for (int i = 0; i < 40; ++i)
{
CircleShape shape = new CircleShape();
shape.m_radius = 0.25f;
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(-40.0f + 2.0f * i, 0.5f);
Body body = m_world.CreateBody(bd);
body.CreateFixture(shape);
}
// 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.type = BodyType._dynamicBody;
bd.Position = pivot + m_offset;
m_chassis = m_world.CreateBody(bd);
m_chassis.CreateFixture(sd);
}
{
CircleShape shape = new CircleShape();
shape.m_radius = 1.6f;
FixtureDef sd = new FixtureDef();
sd.Density = 1.0f;
sd.shape = shape;
sd.Filter.GroupIndex = -1;
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
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;
wheelAnchor = pivot + new Vec2(0.0f, -0.8f);
CreateLeg(-1.0f, wheelAnchor);
CreateLeg(1.0f, wheelAnchor);
m_wheel.SetTransform(m_wheel.GetPosition(), 120.0f * (float)Math.PI / 180.0f);
CreateLeg(-1.0f, wheelAnchor);
CreateLeg(1.0f, wheelAnchor);
m_wheel.SetTransform(m_wheel.GetPosition(), -120.0f * (float)Math.PI / 180.0f);
CreateLeg(-1.0f, wheelAnchor);
CreateLeg(1.0f, wheelAnchor);
}
Bridge()
{
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(0.5f, 0.125f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.Density = 20.0f;
fd.friction = 0.2f;
RevoluteJointDef jd = new RevoluteJointDef();
Body prevBody = ground;
for (int i = 0; i < e_count; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(-14.5f + 1.0f * i, 5.0f);
Body body = m_world.CreateBody(bd);
body.CreateFixture(fd);
Vec2 anchor = new Vec2(-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;
}
Vec2 anchor2 = new Vec2(-15.0f + 1.0f * e_count, 5.0f);
jd.Initialize(prevBody, ground, anchor2);
m_world.CreateJoint(jd);
}
for (int i = 0; i < 2; ++i)
{
Vec2[] vertices = new Vec2[3];
vertices[0].Set(-0.5f, 0.0f);
vertices[1].Set(0.5f, 0.0f);
vertices[2].Set(0.0f, 1.5f);
PolygonShape shape = new PolygonShape();
shape.Set(vertices, 3);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.Density = 1.0f;
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(-8.0f + 8.0f * i, 12.0f);
Body body = m_world.CreateBody(bd);
body.CreateFixture(fd);
}
for (int i = 0; i < 3; ++i)
{
CircleShape shape = new CircleShape();
shape.m_radius = 0.5f;
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.Density = 1.0f;
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(-6.0f + 6.0f * i, 10.0f);
Body body = m_world.CreateBody(bd);
body.CreateFixture(fd);
}
}
public Dominos()
{
Body b1;
{
EdgeShape shape = new EdgeShape();
shape.Set(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
shape.Density = 0;
BodyDef bd = new BodyDef();
b1 = m_world.CreateBody(bd);
b1.CreateFixture(shape);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(6.0f, 0.25f);
BodyDef bd = new BodyDef();
bd.Position.Set(-1.5f, 10.0f);
Body ground = m_world.CreateBody(bd);
shape.Density = 0;
ground.CreateFixture(shape);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.1f, 1.0f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.Density = 20.0f;
fd.friction = 0.1f;
for (int i = 0; i < 10; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(-6.0f + 1.0f * i, 11.25f);
Body body = m_world.CreateBody(bd);
body.CreateFixture(fd);
}
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(7.0f, 0.25f, new Vec2(0, 0), 0.3f);
shape.Density = 0;
BodyDef bd = new BodyDef();
bd.Position.Set(1.0f, 6.0f);
Body ground = m_world.CreateBody(bd);
ground.CreateFixture(shape);
}
Body b2;
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.25f, 1.5f);
shape.Density = 0;
BodyDef bd = new BodyDef();
bd.Position.Set(-7.0f, 4.0f);
b2 = m_world.CreateBody(bd);
b2.CreateFixture(shape);
}
Body b3;
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(6.0f, 0.125f);
shape.Density = 10;
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(-0.9f, 1.0f);
bd.angle = -0.15f;
b3 = m_world.CreateBody(bd);
b3.CreateFixture(shape);
}
RevoluteJointDef jd = new RevoluteJointDef();
Vec2 anchor = new Vec2();
anchor.Set(-2.0f, 1.0f);
jd.Initialize(b1, b3, anchor);
jd.collideConnected = true;
m_world.CreateJoint(jd);
Body b4;
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.25f, 0.25f);
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(-10.0f, 15.0f);
b4 = m_world.CreateBody(bd);
shape.Density = 10;
shape.Density = 10;
b4.CreateFixture(shape);
}
anchor.Set(-7.0f, 15.0f);
jd.Initialize(b2, b4, anchor);
m_world.CreateJoint(jd);
Body b5;
{
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(6.5f, 3.0f);
b5 = m_world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.Density = 10.0f;
fd.friction = 0.1f;
shape.SetAsBox(1.0f, 0.1f, new Vec2(0.0f, -0.9f), 0.0f);
b5.CreateFixture(fd);
shape.SetAsBox(0.1f, 1.0f, new Vec2(-0.9f, 0.0f), 0.0f);
b5.CreateFixture(fd);
shape.SetAsBox(0.1f, 1.0f, new Vec2(0.9f, 0.0f), 0.0f);
b5.CreateFixture(fd);
}
anchor.Set(6.0f, 2.0f);
jd.Initialize(b1, b5, anchor);
m_world.CreateJoint(jd);
Body b6;
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(1.0f, 0.1f);
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(6.5f, 4.1f);
b6 = m_world.CreateBody(bd);
shape.Density = 30;
b6.CreateFixture(shape);
}
anchor.Set(7.5f, 4.0f);
jd.Initialize(b5, b6, anchor);
m_world.CreateJoint(jd);
Body b7;
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.1f, 1.0f);
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(7.4f, 1.0f);
b7 = m_world.CreateBody(bd);
shape.Density = 10;
b7.CreateFixture(shape);
}
DistanceJointDef djd = new DistanceJointDef();
djd.bodyA = b3;
djd.bodyB = b7;
djd.localAnchorA.Set(6.0f, 0.0f);
djd.localAnchorB.Set(0.0f, -1.0f);
Vec2 d = djd.bodyB.GetWorldPoint(djd.localAnchorB) - djd.bodyA.GetWorldPoint(djd.localAnchorA);
djd.length = d.Length();
m_world.CreateJoint(djd);
{
float radius = 0.2f;
CircleShape shape = new CircleShape();
shape.m_radius = radius;
for (int i = 0; i < 4; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(5.9f + 2.0f * radius * i, 2.4f);
Body body = m_world.CreateBody(bd);
shape.Density = 10;
body.CreateFixture(shape);
}
}
}
public Pinball()
{
// Ground body
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = m_world.CreateBody(bd);
Vec2[] vs = new Vec2[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);
ChainShape loop = new ChainShape();
loop.CreateLoop(vs, 5);
FixtureDef fd = new FixtureDef();
fd.shape = loop;
fd.Density = 0.0f;
ground.CreateFixture(fd);
}
// Flippers
{
Vec2 p1 = new Vec2(-2.0f, 0.0f);
Vec2 p2 = new Vec2(2.0f, 0.0f);
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position = p1;
Body leftFlipper = m_world.CreateBody(bd);
bd.Position = p2;
Body rightFlipper = m_world.CreateBody(bd);
PolygonShape box = new PolygonShape();
box.SetAsBox(1.75f, 0.1f);
FixtureDef fd = new FixtureDef();
fd.shape = box;
fd.Density = 1.0f;
leftFlipper.CreateFixture(fd);
rightFlipper.CreateFixture(fd);
RevoluteJointDef jd = new RevoluteJointDef();
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 * (float)Math.PI / 180.0f;
jd.upperAngle = 5.0f * (float)Math.PI / 180.0f;
m_leftJoint = (RevoluteJoint)m_world.CreateJoint(jd);
jd.motorSpeed = 0.0f;
jd.localAnchorA = p2;
jd.bodyB = rightFlipper;
jd.lowerAngle = -5.0f * (float)Math.PI / 180.0f;
jd.upperAngle = 30.0f * (float)Math.PI / 180.0f;
m_rightJoint = (RevoluteJoint)m_world.CreateJoint(jd);
}
// Circle character
{
BodyDef bd = new BodyDef();
bd.Position.Set(1.0f, 15.0f);
bd.type = BodyType._dynamicBody;
bd.bullet = true;
m_ball = m_world.CreateBody(bd);
CircleShape shape = new CircleShape();
shape.m_radius = 0.2f;
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.Density = 1.0f;
m_ball.CreateFixture(fd);
}
m_button = false;
}
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);
}
}
}