public override void initTest(bool deserialized)
{
if (deserialized)
{
return;
}
Body[] bodies = new Body[e_count];
{
BodyDef bd = new BodyDef();
Body ground = getWorld().createBody(bd);
EdgeShape shape = new EdgeShape();
shape.set(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
ground.createFixture(shape, 0.0f);
}
{
CircleShape shape = new CircleShape();
shape.m_radius = 1.0f;
for (int i = 0; i < e_count; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.position.set(0.0f, 4.0f + 3.0f*i);
bodies[i] = getWorld().createBody(bd);
bodies[i].createFixture(shape, 1.0f);
// m_bodies[i].setLinearVelocity(new Vec2(0.0f, -100.0f));
}
}
}
public override Shape clone()
{
CircleShape shape = new CircleShape();
shape.m_p.x = m_p.x;
shape.m_p.y = m_p.y;
shape.m_radius = m_radius;
return shape;
}
public override void initTest(bool deserialized)
{
if (deserialized)
{
return;
}
Body pendulum;
Body pendulumBase;
Body ground;
{
CircleShape circleShape = new CircleShape();
circleShape.m_radius = 1;
Shape shape = circleShape;
BodyDef bodyDef = new BodyDef();
bodyDef.type = BodyType.DYNAMIC;
bodyDef.position.set(-5, 0);
bodyDef.allowSleep = false;
pendulum = getWorld().createBody(bodyDef);
pendulum.createFixture(shape, 1);
}
{
PolygonShape shape = new PolygonShape();
shape.setAsBox(1, 1);
BodyDef bodyDef = new BodyDef();
bodyDef.type = BodyType.DYNAMIC;
bodyDef.position.set(0, 2);
bodyDef.allowSleep = false;
pendulumBase = getWorld().createBody(bodyDef);
pendulumBase.createFixture(shape, 1);
}
{
PolygonShape shape = new PolygonShape();
shape.setAsBox(3, 1);
BodyDef bodyDef = new BodyDef();
bodyDef.type = BodyType.STATIC;
ground = getWorld().createBody(bodyDef);
ground.createFixture(shape, 0);
}
RevoluteJointDef jointDef = new RevoluteJointDef();
if (switchBodiesInJoint)
jointDef.initialize(pendulum, pendulumBase, new Vec2(0, 0));
else
jointDef.initialize(pendulumBase, pendulum, new Vec2(0, 0));
getWorld().createJoint(jointDef);
}
public override void initTest(bool deserialized)
{
{
{
PolygonShape shape = new PolygonShape();
Vec2[] vertices =
new Vec2[] {new Vec2(-40, -10), new Vec2(40, -10), new Vec2(40, 0), new Vec2(-40, 0)};
shape.set(vertices, 4);
getGroundBody().createFixture(shape, 0.0f);
}
{
PolygonShape shape = new PolygonShape();
Vec2[] vertices =
{new Vec2(-40, -1), new Vec2(-20, -1), new Vec2(-20, 20), new Vec2(-40, 30)};
shape.set(vertices, 4);
getGroundBody().createFixture(shape, 0.0f);
}
{
PolygonShape shape = new PolygonShape();
Vec2[] vertices = {new Vec2(20, -1), new Vec2(40, -1), new Vec2(40, 30), new Vec2(20, 20)};
shape.set(vertices, 4);
getGroundBody().createFixture(shape, 0.0f);
}
}
m_world.setParticleRadius(0.35f);
m_world.setParticleDamping(0.2f);
{
CircleShape shape = new CircleShape();
shape.m_p.set(0, 30);
shape.m_radius = 20;
ParticleGroupDef pd = new ParticleGroupDef();
pd.flags = ParticleType.b2_waterParticle;
pd.shape = shape;
m_world.createParticleGroup(pd);
}
{
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
Body body = m_world.createBody(bd);
CircleShape shape = new CircleShape();
shape.m_p.set(0, 80);
shape.m_radius = 5;
body.createFixture(shape, 0.5f);
}
}
public void createCircle()
{
float radius = 2.0f;
CircleShape shape = new CircleShape();
shape.m_p.setZero();
shape.m_radius = radius;
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 1.0f;
fd.friction = 0.0f;
Vec2 p = new Vec2((float) _random.NextDouble(), 3.0f + (float) _random.NextDouble());
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.position = p;
//bd.allowSleep = false;
Body body = getWorld().createBody(bd);
body.createFixture(fd);
}
public override void initTest(bool deserialized)
{
if (deserialized)
{
return;
}
{
BodyDef bd = new BodyDef();
Body ground = getWorld().createBody(bd);
EdgeShape shape = new EdgeShape();
shape.set(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
ground.createFixture(shape, 0.0f);
}
{
CircleShape shape = new CircleShape();
shape.m_radius = 1.0f;
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 1.0f;
float[] restitution = {0.0f, 0.1f, 0.3f, 0.5f, 0.75f, 0.9f, 1.0f};
for (int i = 0; i < 7; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.position.set(-10.0f + 3.0f*i, 20.0f);
Body body = getWorld().createBody(bd);
fd.restitution = restitution[i];
body.createFixture(fd);
}
}
}
// Compute contact points for edge versus circle.
// This accounts for edge connectivity.
public void collideEdgeAndCircle(Manifold manifold, EdgeShape edgeA, Transform xfA,
CircleShape circleB, Transform xfB)
{
manifold.pointCount = 0;
// Compute circle in frame of edge
// Vec2 Q = MulT(xfA, Mul(xfB, circleB.m_p));
Transform.mulToOutUnsafe(xfB, circleB.m_p, ref temp);
Transform.mulTransToOutUnsafe(xfA, temp, ref Q);
Vec2 A = edgeA.m_vertex1;
Vec2 B = edgeA.m_vertex2;
e.set(B);
e.subLocal(A);
// Barycentric coordinates
temp.set(B);
temp.subLocal(Q);
float u = Vec2.dot(e, temp);
temp.set(Q);
temp.subLocal(A);
float v = Vec2.dot(e, temp);
float radius = edgeA.m_radius + circleB.m_radius;
// ContactFeature cf;
cf.indexB = 0;
cf.typeB = (byte) ContactID.Type.VERTEX;
// Region A
float dd;
Vec2 P;
if (v <= 0.0f)
{
P = A;
d.set(Q);
d.subLocal(P);
dd = Vec2.dot(d, d);
if (dd > radius*radius)
{
return;
}
// Is there an edge connected to A?
if (edgeA.m_hasVertex0)
{
Vec2 A1 = edgeA.m_vertex0;
Vec2 B1 = A;
e1.set(B1);
e1.subLocal(A1);
temp.set(B1);
temp.subLocal(Q);
float u1 = Vec2.dot(e1, temp);
// Is the circle in Region AB of the previous edge?
if (u1 > 0.0f)
{
return;
}
}
cf.indexA = 0;
cf.typeA = (byte) ContactID.Type.VERTEX;
manifold.pointCount = 1;
manifold.type = ManifoldType.CIRCLES;
manifold.localNormal.setZero();
manifold.localPoint.set(P);
// manifold.points[0].id.key = 0;
manifold.points[0].id.set(cf);
manifold.points[0].localPoint.set(circleB.m_p);
return;
}
// Region B
if (u <= 0.0f)
{
P = B;
d.set(Q);
d.subLocal(P);
dd = Vec2.dot(d, d);
if (dd > radius*radius)
{
return;
}
// Is there an edge connected to B?
if (edgeA.m_hasVertex3)
{
Vec2 B2 = edgeA.m_vertex3;
Vec2 A2 = B;
Vec2 e2 = e1;
e2.set(B2);
e2.subLocal(A2);
temp.set(Q);
temp.subLocal(A2);
float v2 = Vec2.dot(e2, temp);
// Is the circle in Region AB of the next edge?
if (v2 > 0.0f)
{
return;
}
}
cf.indexA = 1;
cf.typeA = (byte) ContactID.Type.VERTEX;
manifold.pointCount = 1;
manifold.type = ManifoldType.CIRCLES;
manifold.localNormal.setZero();
manifold.localPoint.set(P);
// manifold.points[0].id.key = 0;
manifold.points[0].id.set(cf);
manifold.points[0].localPoint.set(circleB.m_p);
return;
}
// Region AB
float den = Vec2.dot(e, e);
Debug.Assert(den > 0.0f);
// Vec2 P = (1.0f / den) * (u * A + v * B);
P = A;
P.mulLocal(u);
temp.set(B);
temp.mulLocal(v);
P.addLocal(temp);
P.mulLocal(1.0f/den);
d.set(Q);
d.subLocal(P);
dd = Vec2.dot(d, d);
if (dd > radius*radius)
{
return;
}
n.x = -e.y;
n.y = e.x;
temp.set(Q);
temp.subLocal(A);
if (Vec2.dot(n, temp) < 0.0f)
{
n.set(-n.x, -n.y);
}
n.normalize();
cf.indexA = 0;
cf.typeA = (byte) ContactID.Type.FACE;
manifold.pointCount = 1;
manifold.type = ManifoldType.FACE_A;
manifold.localNormal.set(n);
manifold.localPoint.set(A);
// manifold.points[0].id.key = 0;
manifold.points[0].id.set(cf);
manifold.points[0].localPoint.set(circleB.m_p);
}
// djm pooling, and from above
/**
* Compute the collision manifold between a polygon and a circle.
*
* @param manifold
* @param polygon
* @param xfA
* @param circle
* @param xfB
*/
public void collidePolygonAndCircle(Manifold manifold, PolygonShape polygon,
Transform xfA, CircleShape circle, Transform xfB)
{
manifold.pointCount = 0;
// Vec2 v = circle.m_p;
// Compute circle position in the frame of the polygon.
// before inline:
// Transform.mulToOutUnsafe(xfB, circle.m_p, c);
// Transform.mulTransToOut(xfA, c, cLocal);
// float cLocalx = cLocal.x;
// float cLocaly = cLocal.y;
// after inline:
Vec2 circlep = circle.m_p;
Rot xfBq = xfB.q;
Rot xfAq = xfA.q;
float cx = (xfBq.c*circlep.x - xfBq.s*circlep.y) + xfB.p.x;
float cy = (xfBq.s*circlep.x + xfBq.c*circlep.y) + xfB.p.y;
float px = cx - xfA.p.x;
float py = cy - xfA.p.y;
float cLocalx = (xfAq.c*px + xfAq.s*py);
float cLocaly = (-xfAq.s*px + xfAq.c*py);
// end inline
// Find the min separating edge.
int normalIndex = 0;
float separation = -float.MaxValue;
float radius = polygon.m_radius + circle.m_radius;
int vertexCount = polygon.m_count;
float s;
Vec2[] vertices = polygon.m_vertices;
Vec2[] normals = polygon.m_normals;
for (int i = 0; i < vertexCount; i++)
{
// before inline
// temp.set(cLocal).subLocal(vertices[i]);
// float s = Vec2.dot(normals[i], temp);
// after inline
Vec2 vertex = vertices[i];
float tempx = cLocalx - vertex.x;
float tempy = cLocaly - vertex.y;
s = normals[i].x*tempx + normals[i].y*tempy;
if (s > radius)
{
// early ref
return;
}
if (s > separation)
{
separation = s;
normalIndex = i;
}
}
// Vertices that subtend the incident face.
int vertIndex1 = normalIndex;
int vertIndex2 = vertIndex1 + 1 < vertexCount ? vertIndex1 + 1 : 0;
Vec2 v1 = vertices[vertIndex1];
Vec2 v2 = vertices[vertIndex2];
// If the center is inside the polygon ...
if (separation < Settings.EPSILON)
{
manifold.pointCount = 1;
manifold.type = ManifoldType.FACE_A;
// before inline:
// manifold.localNormal.set(normals[normalIndex]);
// manifold.localPoint.set(v1).addLocal(v2).mulLocal(.5f);
// manifold.points[0].localPoint.set(circle.m_p);
// after inline:
Vec2 normal = normals[normalIndex];
manifold.localNormal.x = normal.x;
manifold.localNormal.y = normal.y;
manifold.localPoint.x = (v1.x + v2.x)*.5f;
manifold.localPoint.y = (v1.y + v2.y)*.5f;
ManifoldPoint mpoint = manifold.points[0];
mpoint.localPoint.x = circlep.x;
mpoint.localPoint.y = circlep.y;
mpoint.id.zero();
// end inline
return;
}
// Compute barycentric coordinates
// before inline:
// temp.set(cLocal).subLocal(v1);
// temp2.set(v2).subLocal(v1);
// float u1 = Vec2.dot(temp, temp2);
// temp.set(cLocal).subLocal(v2);
// temp2.set(v1).subLocal(v2);
// float u2 = Vec2.dot(temp, temp2);
// after inline:
float tempX = cLocalx - v1.x;
float tempY = cLocaly - v1.y;
float temp2X = v2.x - v1.x;
float temp2Y = v2.y - v1.y;
float u1 = tempX*temp2X + tempY*temp2Y;
float temp3X = cLocalx - v2.x;
float temp3Y = cLocaly - v2.y;
float temp4X = v1.x - v2.x;
float temp4Y = v1.y - v2.y;
float u2 = temp3X*temp4X + temp3Y*temp4Y;
// end inline
if (u1 <= 0f)
{
// inlined
float dx = cLocalx - v1.x;
float dy = cLocaly - v1.y;
if (dx*dx + dy*dy > radius*radius)
{
return;
}
manifold.pointCount = 1;
manifold.type = ManifoldType.FACE_A;
// before inline:
// manifold.localNormal.set(cLocal).subLocal(v1);
// after inline:
manifold.localNormal.x = cLocalx - v1.x;
manifold.localNormal.y = cLocaly - v1.y;
// end inline
manifold.localNormal.normalize();
manifold.localPoint.set(v1);
manifold.points[0].localPoint.set(circlep);
manifold.points[0].id.zero();
}
else if (u2 <= 0.0f)
{
// inlined
float dx = cLocalx - v2.x;
float dy = cLocaly - v2.y;
if (dx*dx + dy*dy > radius*radius)
{
return;
}
manifold.pointCount = 1;
manifold.type = ManifoldType.FACE_A;
// before inline:
// manifold.localNormal.set(cLocal).subLocal(v2);
// after inline:
manifold.localNormal.x = cLocalx - v2.x;
manifold.localNormal.y = cLocaly - v2.y;
// end inline
manifold.localNormal.normalize();
manifold.localPoint.set(v2);
manifold.points[0].localPoint.set(circlep);
manifold.points[0].id.zero();
}
else
{
// Vec2 faceCenter = 0.5f * (v1 + v2);
// (temp is faceCenter)
// before inline:
// temp.set(v1).addLocal(v2).mulLocal(.5f);
//
// temp2.set(cLocal).subLocal(temp);
// separation = Vec2.dot(temp2, normals[vertIndex1]);
// if (separation > radius) {
// return;
// }
// after inline:
float fcx = (v1.x + v2.x)*.5f;
float fcy = (v1.y + v2.y)*.5f;
float tx = cLocalx - fcx;
float ty = cLocaly - fcy;
Vec2 normal = normals[vertIndex1];
separation = tx*normal.x + ty*normal.y;
if (separation > radius)
{
return;
}
// end inline
manifold.pointCount = 1;
manifold.type = ManifoldType.FACE_A;
manifold.localNormal.set(normals[vertIndex1]);
manifold.localPoint.x = fcx; // (faceCenter)
manifold.localPoint.y = fcy;
manifold.points[0].localPoint.set(circlep);
manifold.points[0].id.zero();
}
}
public override void initTest(bool deserialized)
{
if (deserialized)
{
return;
}
// Ground body
{
EdgeShape shape = new EdgeShape();
shape.set(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
FixtureDef sd = new FixtureDef();
sd.shape = shape;
sd.friction = 0.3f;
BodyDef bd = new BodyDef();
Body ground = getWorld().createBody(bd);
ground.createFixture(sd);
}
// Small triangle
Vec2[] vertices = new Vec2[3];
vertices[0] = new Vec2(-1.0f, 0.0f);
vertices[1] = new Vec2(1.0f, 0.0f);
vertices[2] = new Vec2(0.0f, 2.0f);
PolygonShape polygon = new PolygonShape();
polygon.set(vertices, 3);
FixtureDef triangleShapeDef = new FixtureDef();
triangleShapeDef.shape = polygon;
triangleShapeDef.density = 1.0f;
triangleShapeDef.filter.groupIndex = k_smallGroup;
triangleShapeDef.filter.categoryBits = k_triangleCategory;
triangleShapeDef.filter.maskBits = k_triangleMask;
BodyDef triangleBodyDef = new BodyDef();
triangleBodyDef.type = BodyType.DYNAMIC;
triangleBodyDef.position.set(-5.0f, 2.0f);
Body body1 = getWorld().createBody(triangleBodyDef);
body1.createFixture(triangleShapeDef);
// Large triangle (recycle definitions)
vertices[0].mulLocal(2.0f);
vertices[1].mulLocal(2.0f);
vertices[2].mulLocal(2.0f);
polygon.set(vertices, 3);
triangleShapeDef.filter.groupIndex = k_largeGroup;
triangleBodyDef.position.set(-5.0f, 6.0f);
triangleBodyDef.fixedRotation = true; // look at me!
Body body2 = getWorld().createBody(triangleBodyDef);
body2.createFixture(triangleShapeDef);
{
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.position.set(-5.0f, 10.0f);
Body body = getWorld().createBody(bd);
PolygonShape p = new PolygonShape();
p.setAsBox(0.5f, 1.0f);
body.createFixture(p, 1.0f);
PrismaticJointDef jd = new PrismaticJointDef();
jd.bodyA = body2;
jd.bodyB = body;
jd.enableLimit = true;
jd.localAnchorA.set(0.0f, 4.0f);
jd.localAnchorB.setZero();
jd.localAxisA.set(0.0f, 1.0f);
jd.lowerTranslation = -1.0f;
jd.upperTranslation = 1.0f;
getWorld().createJoint(jd);
}
// Small box
polygon.setAsBox(1.0f, 0.5f);
FixtureDef boxShapeDef = new FixtureDef();
boxShapeDef.shape = polygon;
boxShapeDef.density = 1.0f;
boxShapeDef.restitution = 0.1f;
boxShapeDef.filter.groupIndex = k_smallGroup;
boxShapeDef.filter.categoryBits = k_boxCategory;
boxShapeDef.filter.maskBits = k_boxMask;
BodyDef boxBodyDef = new BodyDef();
boxBodyDef.type = BodyType.DYNAMIC;
boxBodyDef.position.set(0.0f, 2.0f);
Body body3 = getWorld().createBody(boxBodyDef);
body3.createFixture(boxShapeDef);
// Large box (recycle definitions)
polygon.setAsBox(2.0f, 1.0f);
boxShapeDef.filter.groupIndex = k_largeGroup;
boxBodyDef.position.set(0.0f, 6.0f);
Body body4 = getWorld().createBody(boxBodyDef);
body4.createFixture(boxShapeDef);
// Small circle
CircleShape circle = new CircleShape();
circle.m_radius = 1.0f;
FixtureDef circleShapeDef = new FixtureDef();
circleShapeDef.shape = circle;
circleShapeDef.density = 1.0f;
circleShapeDef.filter.groupIndex = k_smallGroup;
circleShapeDef.filter.categoryBits = k_circleCategory;
circleShapeDef.filter.maskBits = k_circleMask;
BodyDef circleBodyDef = new BodyDef();
circleBodyDef.type = BodyType.DYNAMIC;
circleBodyDef.position.set(5.0f, 2.0f);
Body body5 = getWorld().createBody(circleBodyDef);
body5.createFixture(circleShapeDef);
// Large circle
circle.m_radius *= 2.0f;
circleShapeDef.filter.groupIndex = k_largeGroup;
circleBodyDef.position.set(5.0f, 6.0f);
Body body6 = getWorld().createBody(circleBodyDef);
body6.createFixture(circleShapeDef);
}
public override void initTest(bool argDeserialized)
{
for (int i = 0; i < m_bodies.Length; i++)
{
m_bodies[i] = null;
}
// Ground body
{
BodyDef bd = new BodyDef();
Body ground = getWorld().createBody(bd);
float x1 = -20.0f;
float y1 = 2.0f*MathUtils.cos(x1/10.0f*MathUtils.PI);
for (int i = 0; i < 80; ++i)
{
float x2 = x1 + 0.5f;
float y2 = 2.0f*MathUtils.cos(x2/10.0f*MathUtils.PI);
EdgeShape shape = new EdgeShape();
shape.set(new Vec2(x1, y1), new Vec2(x2, y2));
ground.createFixture(shape, 0.0f);
x1 = x2;
y1 = y2;
}
}
{
Vec2[] vertices = new Vec2[3];
vertices[0] = new Vec2(-0.5f, 0.0f);
vertices[1] = new Vec2(0.5f, 0.0f);
vertices[2] = new Vec2(0.0f, 1.5f);
m_polygons[0] = new PolygonShape();
m_polygons[0].set(vertices, 3);
}
{
Vec2[] vertices = new Vec2[3];
vertices[0] = new Vec2(-0.1f, 0.0f);
vertices[1] = new Vec2(0.1f, 0.0f);
vertices[2] = new Vec2(0.0f, 1.5f);
m_polygons[1] = new PolygonShape();
m_polygons[1].set(vertices, 3);
}
{
float w = 1.0f;
float b = w/(2.0f + MathUtils.sqrt(2.0f));
float s = MathUtils.sqrt(2.0f)*b;
Vec2[] vertices = new Vec2[8];
vertices[0] = new Vec2(0.5f*s, 0.0f);
vertices[1] = new Vec2(0.5f*w, b);
vertices[2] = new Vec2(0.5f*w, b + s);
vertices[3] = new Vec2(0.5f*s, w);
vertices[4] = new Vec2(-0.5f*s, w);
vertices[5] = new Vec2(-0.5f*w, b + s);
vertices[6] = new Vec2(-0.5f*w, b);
vertices[7] = new Vec2(-0.5f*s, 0.0f);
m_polygons[2] = new PolygonShape();
m_polygons[2].set(vertices, 8);
}
{
m_polygons[3] = new PolygonShape();
m_polygons[3].setAsBox(0.5f, 0.5f);
}
{
m_circle = new CircleShape();
m_circle.m_radius = 0.5f;
}
m_bodyIndex = 0;
m_angle = 0.0f;
}
public override void initTest(bool deserialized)
{
if (deserialized)
{
return;
}
{
BodyDef bd = new BodyDef();
bd.position.set(0.0f, 0.0f);
Body body = getWorld().createBody(bd);
EdgeShape shape = new EdgeShape();
shape.set(new Vec2(50.0f, 0.0f), new Vec2(-50.0f, 0.0f));
body.createFixture(shape, 0.0f);
}
{
CircleShape circle1 = new CircleShape();
circle1.m_radius = 0.5f;
circle1.m_p.set(-0.5f, 0.5f);
CircleShape circle2 = new CircleShape();
;
circle2.m_radius = 0.5f;
circle2.m_p.set(0.5f, 0.5f);
for (int i = 0; i < 10; ++i)
{
float x = MathUtils.randomFloat(-0.1f, 0.1f);
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.position.set(x + 5.0f, 1.05f + 2.5f*i);
bd.angle = MathUtils.randomFloat(-MathUtils.PI, MathUtils.PI);
Body body = getWorld().createBody(bd);
body.createFixture(circle1, 2.0f);
body.createFixture(circle2, 0.0f);
}
}
{
PolygonShape polygon1 = new PolygonShape();
polygon1.setAsBox(0.25f, 0.5f);
PolygonShape polygon2 = new PolygonShape();
polygon2.setAsBox(0.25f, 0.5f, new Vec2(0.0f, -0.5f), 0.5f*MathUtils.PI);
for (int i = 0; i < 10; ++i)
{
float x = MathUtils.randomFloat(-0.1f, 0.1f);
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.position.set(x - 5.0f, 1.05f + 2.5f*i);
bd.angle = MathUtils.randomFloat(-MathUtils.PI, MathUtils.PI);
Body body = getWorld().createBody(bd);
body.createFixture(polygon1, 2.0f);
body.createFixture(polygon2, 2.0f);
}
}
{
Transform xf1 = new Transform();
xf1.q.set(0.3524f*MathUtils.PI);
Rot.mulToOut(xf1.q, new Vec2(1.0f, 0.0f), ref xf1.p);
Vec2[] vertices = new Vec2[3];
PolygonShape triangle1 = new PolygonShape();
vertices[0] = Transform.mul(xf1, new Vec2(-1.0f, 0.0f));
vertices[1] = Transform.mul(xf1, new Vec2(1.0f, 0.0f));
vertices[2] = Transform.mul(xf1, new Vec2(0.0f, 0.5f));
triangle1.set(vertices, 3);
Transform xf2 = new Transform();
xf2.q.set(-0.3524f*MathUtils.PI);
Rot.mulToOut(xf2.q, new Vec2(-1.0f, 0.0f), ref xf2.p);
PolygonShape triangle2 = new PolygonShape();
vertices[0] = Transform.mul(xf2, new Vec2(-1.0f, 0.0f));
vertices[1] = Transform.mul(xf2, new Vec2(1.0f, 0.0f));
vertices[2] = Transform.mul(xf2, new Vec2(0.0f, 0.5f));
triangle2.set(vertices, 3);
for (int i = 0; i < 10; ++i)
{
float x = MathUtils.randomFloat(-0.1f, 0.1f);
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.position.set(x, 2.05f + 2.5f*i);
bd.angle = 0.0f;
Body body = getWorld().createBody(bd);
body.createFixture(triangle1, 2.0f);
body.createFixture(triangle2, 2.0f);
}
}
{
PolygonShape bottom = new PolygonShape();
bottom.setAsBox(1.5f, 0.15f);
PolygonShape left = new PolygonShape();
left.setAsBox(0.15f, 2.7f, new Vec2(-1.45f, 2.35f), 0.2f);
PolygonShape right = new PolygonShape();
right.setAsBox(0.15f, 2.7f, new Vec2(1.45f, 2.35f), -0.2f);
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.position.set(0.0f, 2.0f);
Body body = getWorld().createBody(bd);
body.createFixture(bottom, 4.0f);
body.createFixture(left, 4.0f);
body.createFixture(right, 4.0f);
}
}
/**
* Compute the collision manifold between two circles.
*
* @param manifold
* @param circle1
* @param xfA
* @param circle2
* @param xfB
*/
public void collideCircles(Manifold manifold, CircleShape circle1,
Transform xfA, CircleShape circle2, Transform xfB)
{
manifold.pointCount = 0;
// before inline:
// Transform.mulToOut(xfA, circle1.m_p, pA);
// Transform.mulToOut(xfB, circle2.m_p, pB);
// d.set(pB).subLocal(pA);
// float distSqr = d.x * d.x + d.y * d.y;
// after inline:
Vec2 circle1p = circle1.m_p;
Vec2 circle2p = circle2.m_p;
float pAx = (xfA.q.c*circle1p.x - xfA.q.s*circle1p.y) + xfA.p.x;
float pAy = (xfA.q.s*circle1p.x + xfA.q.c*circle1p.y) + xfA.p.y;
float pBx = (xfB.q.c*circle2p.x - xfB.q.s*circle2p.y) + xfB.p.x;
float pBy = (xfB.q.s*circle2p.x + xfB.q.c*circle2p.y) + xfB.p.y;
float dx = pBx - pAx;
float dy = pBy - pAy;
float distSqr = dx*dx + dy*dy;
// end inline
float radius = circle1.m_radius + circle2.m_radius;
if (distSqr > radius*radius)
{
return;
}
manifold.type = ManifoldType.CIRCLES;
manifold.localPoint.set(circle1p);
manifold.localNormal.setZero();
manifold.pointCount = 1;
manifold.points[0].localPoint.set(circle2p);
manifold.points[0].id.zero();
}
public override void initTest(bool deserialized)
{
if (deserialized)
{
return;
}
// Ground body
{
EdgeShape shape = new EdgeShape();
shape.set(new Vec2(-50.0f, 0.0f), new Vec2(50.0f, 0.0f));
FixtureDef sd = new FixtureDef();
sd.shape = shape;
BodyDef bd = new BodyDef();
Body ground = getWorld().createBody(bd);
ground.createFixture(sd);
}
float xLo = -5.0f, xHi = 5.0f;
float yLo = 2.0f, yHi = 35.0f;
// Small triangle
Vec2[] vertices = new Vec2[3];
vertices[0] = new Vec2(-1.0f, 0.0f);
vertices[1] = new Vec2(1.0f, 0.0f);
vertices[2] = new Vec2(0.0f, 2.0f);
PolygonShape polygon = new PolygonShape();
polygon.set(vertices, 3);
FixtureDef triangleShapeDef = new FixtureDef();
triangleShapeDef.shape = polygon;
triangleShapeDef.density = 1.0f;
BodyDef triangleBodyDef = new BodyDef();
triangleBodyDef.type = BodyType.DYNAMIC;
triangleBodyDef.position.set(MathUtils.randomFloat(xLo, xHi), MathUtils.randomFloat(yLo, yHi));
Body body1 = getWorld().createBody(triangleBodyDef);
body1.createFixture(triangleShapeDef);
// Large triangle (recycle definitions)
vertices[0].mulLocal(2.0f);
vertices[1].mulLocal(2.0f);
vertices[2].mulLocal(2.0f);
polygon.set(vertices, 3);
triangleBodyDef.position.set(MathUtils.randomFloat(xLo, xHi), MathUtils.randomFloat(yLo, yHi));
Body body2 = getWorld().createBody(triangleBodyDef);
body2.createFixture(triangleShapeDef);
// Small box
polygon.setAsBox(1.0f, 0.5f);
FixtureDef boxShapeDef = new FixtureDef();
boxShapeDef.shape = polygon;
boxShapeDef.density = 1.0f;
BodyDef boxBodyDef = new BodyDef();
boxBodyDef.type = BodyType.DYNAMIC;
boxBodyDef.position.set(MathUtils.randomFloat(xLo, xHi), MathUtils.randomFloat(yLo, yHi));
Body body3 = getWorld().createBody(boxBodyDef);
body3.createFixture(boxShapeDef);
// Large box (recycle definitions)
polygon.setAsBox(2.0f, 1.0f);
boxBodyDef.position.set(MathUtils.randomFloat(xLo, xHi), MathUtils.randomFloat(yLo, yHi));
Body body4 = getWorld().createBody(boxBodyDef);
body4.createFixture(boxShapeDef);
// Small circle
CircleShape circle = new CircleShape();
circle.m_radius = 1.0f;
FixtureDef circleShapeDef = new FixtureDef();
circleShapeDef.shape = circle;
circleShapeDef.density = 1.0f;
BodyDef circleBodyDef = new BodyDef();
circleBodyDef.type = BodyType.DYNAMIC;
circleBodyDef.position.set(MathUtils.randomFloat(xLo, xHi), MathUtils.randomFloat(yLo, yHi));
Body body5 = getWorld().createBody(circleBodyDef);
body5.createFixture(circleShapeDef);
// Large circle
circle.m_radius *= 2.0f;
circleBodyDef.position.set(MathUtils.randomFloat(xLo, xHi), MathUtils.randomFloat(yLo, yHi));
Body body6 = getWorld().createBody(circleBodyDef);
body6.createFixture(circleShapeDef);
}
public override void initTest(bool argDeserialized)
{
// Ground body
{
BodyDef bd = new BodyDef();
Body ground = getWorld().createBody(bd);
EdgeShape shape = new EdgeShape();
shape.set(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
ground.createFixture(shape, 0.0f);
}
{
Vec2[] vertices = new Vec2[3];
vertices[0] = new Vec2(-0.5f, 0.0f);
vertices[1] = new Vec2(0.5f, 0.0f);
vertices[2] = new Vec2(0.0f, 1.5f);
m_polygons[0] = new PolygonShape();
m_polygons[0].set(vertices, 3);
}
{
Vec2[] vertices = new Vec2[3];
vertices[0] = new Vec2(-0.1f, 0.0f);
vertices[1] = new Vec2(0.1f, 0.0f);
vertices[2] = new Vec2(0.0f, 1.5f);
m_polygons[1] = new PolygonShape();
m_polygons[1].set(vertices, 3);
}
{
float w = 1.0f;
float b = w/(2.0f + MathUtils.sqrt(2.0f));
float s = MathUtils.sqrt(2.0f)*b;
Vec2[] vertices = new Vec2[8];
vertices[0] = new Vec2(0.5f*s, 0.0f);
vertices[1] = new Vec2(0.5f*w, b);
vertices[2] = new Vec2(0.5f*w, b + s);
vertices[3] = new Vec2(0.5f*s, w);
vertices[4] = new Vec2(-0.5f*s, w);
vertices[5] = new Vec2(-0.5f*w, b + s);
vertices[6] = new Vec2(-0.5f*w, b);
vertices[7] = new Vec2(-0.5f*s, 0.0f);
m_polygons[2] = new PolygonShape();
m_polygons[2].set(vertices, 8);
}
{
m_polygons[3] = new PolygonShape();
m_polygons[3].setAsBox(0.5f, 0.5f);
}
{
m_circle = new CircleShape();
m_circle.m_radius = 0.5f;
}
m_bodyIndex = 0;
}
public override void initTest(bool argDeserialized)
{
if (argDeserialized)
{
return;
}
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = getWorld().createBody(bd);
EdgeShape shape = new EdgeShape();
shape.set(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
ground.createFixture(shape, 0.0f);
}
{
PolygonShape shape = new PolygonShape();
shape.setAsBox(0.5f, 0.125f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 20.0f;
WeldJointDef jd = new WeldJointDef();
Body prevBody = ground;
for (int i = 0; i < e_count; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.position.set(-14.5f + 1.0f*i, 5.0f);
Body body = getWorld().createBody(bd);
body.createFixture(fd);
Vec2 anchor = new Vec2(-15.0f + 1.0f*i, 5.0f);
jd.initialize(prevBody, body, anchor);
getWorld().createJoint(jd);
prevBody = body;
}
}
{
PolygonShape shape = new PolygonShape();
shape.setAsBox(1f, 0.125f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 20.0f;
WeldJointDef jd = new WeldJointDef();
jd.frequencyHz = 5f;
jd.dampingRatio = .7f;
Body prevBody = ground;
for (int i = 0; i < 3; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.position.set(-14.0f + 2.0f*i, 15.0f);
Body body = getWorld().createBody(bd);
body.createFixture(fd);
Vec2 anchor = new Vec2(-15.0f + 2.0f*i, 15.0f);
jd.initialize(prevBody, body, anchor);
getWorld().createJoint(jd);
prevBody = body;
}
}
{
PolygonShape shape = new PolygonShape();
shape.setAsBox(0.5f, 0.125f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 20.0f;
WeldJointDef jd = new WeldJointDef();
Body prevBody = ground;
for (int i = 0; i < e_count; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.position.set(-4.5f + 1.0f*i, 5.0f);
Body body = getWorld().createBody(bd);
body.createFixture(fd);
if (i > 0)
{
Vec2 anchor = new Vec2(-5.0f + 1.0f*i, 5.0f);
jd.initialize(prevBody, body, anchor);
getWorld().createJoint(jd);
}
prevBody = body;
}
}
{
PolygonShape shape = new PolygonShape();
shape.setAsBox(0.5f, 0.125f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 20.0f;
WeldJointDef jd = new WeldJointDef();
jd.frequencyHz = 8f;
jd.dampingRatio = .7f;
Body prevBody = ground;
for (int i = 0; i < e_count; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.position.set(5.5f + 1.0f*i, 10.0f);
Body body = getWorld().createBody(bd);
body.createFixture(fd);
if (i > 0)
{
Vec2 anchor = new Vec2(5.0f + 1.0f*i, 10.0f);
jd.initialize(prevBody, body, anchor);
getWorld().createJoint(jd);
}
prevBody = body;
}
}
for (int i = 0; i < 2; ++i)
{
Vec2[] vertices = new Vec2[3];
vertices[0] = new Vec2(-0.5f, 0.0f);
vertices[1] = new Vec2(0.5f, 0.0f);
vertices[2] = new Vec2(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.DYNAMIC;
bd.position.set(-8.0f + 8.0f*i, 12.0f);
Body body = getWorld().createBody(bd);
body.createFixture(fd);
}
for (int i = 0; i < 2; ++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.DYNAMIC;
bd.position.set(-6.0f + 6.0f*i, 10.0f);
Body body = getWorld().createBody(bd);
body.createFixture(fd);
}
}
public override void initTest(bool deserialized)
{
if (deserialized)
{
return;
}
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 = {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.DYNAMIC;
Body body = m_world.createBody(bd);
PolygonShape box = new PolygonShape();
box.setAsBox(10.0f, 0.25f);
body.createFixture(box, 1.0f);
RevoluteJointDef jd = new RevoluteJointDef();
jd.initialize(ground, body, body.getPosition());
jd.lowerAngle = -8.0f*MathUtils.PI/180.0f;
jd.upperAngle = 8.0f*MathUtils.PI/180.0f;
jd.enableLimit = true;
m_world.createJoint(jd);
body.applyAngularImpulse(100.0f);
}
// 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.DYNAMIC;
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);
Body body = null;
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
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
{
PolygonShape chassis = new PolygonShape();
Vec2[] vertices = new Vec2[8];
vertices[0] = new Vec2(-1.5f, -0.5f);
vertices[1] = new Vec2(1.5f, -0.5f);
vertices[2] = new Vec2(1.5f, 0.0f);
vertices[3] = new Vec2(0.0f, 0.9f);
vertices[4] = new Vec2(-1.15f, 0.9f);
vertices[5] = new Vec2(-1.5f, 0.2f);
chassis.set(vertices, 6);
CircleShape circle = new CircleShape();
circle.m_radius = 0.4f;
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.position.set(0.0f, 1.0f);
m_car = m_world.createBody(bd);
m_car.createFixture(chassis, 1.0f);
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);
}
}
public override void initTest(bool argDeserialized)
{
if (argDeserialized)
{
return;
}
Body leftWall = null;
Body rightWall = null;
{
// Ground
PolygonShape sd = new PolygonShape();
sd.setAsBox(50.0f, 10.0f);
BodyDef bd = new BodyDef();
bd.type = BodyType.STATIC;
bd.position = new Vec2(0.0f, -10.0f);
Body b = getWorld().createBody(bd);
FixtureDef fd = new FixtureDef();
fd.shape = sd;
fd.friction = 1.0f;
b.createFixture(fd);
// Walls
sd.setAsBox(3.0f, 50.0f);
bd = new BodyDef();
bd.position = new Vec2(45.0f, 25.0f);
rightWall = getWorld().createBody(bd);
rightWall.createFixture(sd, 0);
bd.position = new Vec2(-45.0f, 25.0f);
leftWall = getWorld().createBody(bd);
leftWall.createFixture(sd, 0);
// Corners
bd = new BodyDef();
sd.setAsBox(20.0f, 3.0f);
bd.angle = (float) (-System.Math.PI/4.0);
bd.position = new Vec2(-35f, 8.0f);
Body myBod = getWorld().createBody(bd);
myBod.createFixture(sd, 0);
bd.angle = (float) (System.Math.PI/4.0);
bd.position = new Vec2(35f, 8.0f);
myBod = getWorld().createBody(bd);
myBod.createFixture(sd, 0);
// top
sd.setAsBox(50.0f, 10.0f);
bd.type = BodyType.STATIC;
bd.angle = 0;
bd.position = new Vec2(0.0f, 75.0f);
b = getWorld().createBody(bd);
fd.shape = sd;
fd.friction = 1.0f;
b.createFixture(fd);
}
CircleShape cd;
FixtureDef fd2 = new FixtureDef();
BodyDef bd2 = new BodyDef();
bd2.type = BodyType.DYNAMIC;
int numPieces = 5;
float radius = 6f;
bd2.position = new Vec2(0.0f, 10.0f);
Body body = getWorld().createBody(bd2);
for (int i = 0; i < numPieces; i++)
{
cd = new CircleShape();
cd.m_radius = 1.2f;
fd2.shape = cd;
fd2.density = 25;
fd2.friction = .1f;
fd2.restitution = .9f;
float xPos = radius*(float) System.Math.Cos(2f*System.Math.PI*(i/(float) (numPieces)));
float yPos = radius*(float) System.Math.Sin(2f*System.Math.PI*(i/(float) (numPieces)));
cd.m_p.set(xPos, yPos);
body.createFixture(fd2);
}
body.setBullet(false);
RevoluteJointDef rjd = new RevoluteJointDef();
rjd.initialize(body, getGroundBody(), body.getPosition());
rjd.motorSpeed = MathUtils.PI;
rjd.maxMotorTorque = 1000000.0f;
rjd.enableMotor = true;
joint = (RevoluteJoint) getWorld().createJoint(rjd);
{
int loadSize = 41;
for (int j = 0; j < 15; j++)
{
for (int i = 0; i < loadSize; i++)
{
CircleShape circ = new CircleShape();
BodyDef bod = new BodyDef();
bod.type = BodyType.DYNAMIC;
circ.m_radius = 1.0f + (i%2 == 0 ? 1.0f : -1.0f)*.5f*MathUtils.randomFloat(.5f, 1f);
FixtureDef fd3 = new FixtureDef();
fd3.shape = circ;
fd3.density = circ.m_radius*1.5f;
fd3.friction = 0.5f;
fd3.restitution = 0.7f;
float xPos = -39f + 2*i;
float yPos = 50f + j;
bod.position = new Vec2(xPos, yPos);
Body myBody = getWorld().createBody(bod);
myBody.createFixture(fd3);
}
}
}
getWorld().setGravity(new Vec2(0, -50));
}
public override void initTest(bool deserialized)
{
//m_state = State.e_unknown;
if (deserialized)
{
return;
}
// Ground
{
BodyDef bd = new BodyDef();
Body ground = getWorld().createBody(bd);
EdgeShape shape = new EdgeShape();
shape.set(new Vec2(-20.0f, 0.0f), new Vec2(20.0f, 0.0f));
ground.createFixture(shape, 0.0f);
}
// Platform
{
BodyDef bd = new BodyDef();
bd.position.set(0.0f, 10.0f);
Body body = getWorld().createBody(bd);
PolygonShape shape = new PolygonShape();
shape.setAsBox(3.0f, 0.5f);
m_platform = body.createFixture(shape, 0.0f);
//m_bottom = 10.0f - 0.5f;
m_top = 10.0f + 0.5f;
}
// Actor
{
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.position.set(0.0f, 12.0f);
Body body = getWorld().createBody(bd);
m_radius = 0.5f;
CircleShape shape = new CircleShape();
shape.m_radius = m_radius;
m_character = body.createFixture(shape, 20.0f);
body.setLinearVelocity(new Vec2(0.0f, -50.0f));
//m_state = State.e_unknown;
}
}
public override void initTest(bool deserialized)
{
if (deserialized)
{
return;
}
// Ground body
{
BodyDef bd = new BodyDef();
Body ground = getWorld().createBody(bd);
EdgeShape shape = new EdgeShape();
shape.set(new Vec2(-20.0f, 0.0f), new Vec2(20.0f, 0.0f));
ground.createFixture(shape, 0.0f);
}
// Collinear edges
// This shows the problematic case where a box shape can hit
// an internal vertex.
{
BodyDef bd = new BodyDef();
Body ground = getWorld().createBody(bd);
EdgeShape shape = new EdgeShape();
shape.m_radius = 0.0f;
shape.set(new Vec2(-8.0f, 1.0f), new Vec2(-6.0f, 1.0f));
ground.createFixture(shape, 0.0f);
shape.set(new Vec2(-6.0f, 1.0f), new Vec2(-4.0f, 1.0f));
ground.createFixture(shape, 0.0f);
shape.set(new Vec2(-4.0f, 1.0f), new Vec2(-2.0f, 1.0f));
ground.createFixture(shape, 0.0f);
}
// Chain shape
{
BodyDef bd = new BodyDef();
bd.angle = 0.25f*MathUtils.PI;
Body ground = getWorld().createBody(bd);
Vec2[] vs = new Vec2[4];
vs[0] = new Vec2(5.0f, 7.0f);
vs[1] = new Vec2(6.0f, 8.0f);
vs[2] = new Vec2(7.0f, 8.0f);
vs[3] = new Vec2(8.0f, 7.0f);
ChainShape shape = new ChainShape();
shape.createChain(vs, 4);
ground.createFixture(shape, 0.0f);
}
// Square tiles. This shows that adjacency shapes may
// have non-smooth collision. There is no solution
// to this problem.
{
BodyDef bd = new BodyDef();
Body ground = getWorld().createBody(bd);
PolygonShape shape = new PolygonShape();
shape.setAsBox(1.0f, 1.0f, new Vec2(4.0f, 3.0f), 0.0f);
ground.createFixture(shape, 0.0f);
shape.setAsBox(1.0f, 1.0f, new Vec2(6.0f, 3.0f), 0.0f);
ground.createFixture(shape, 0.0f);
shape.setAsBox(1.0f, 1.0f, new Vec2(8.0f, 3.0f), 0.0f);
ground.createFixture(shape, 0.0f);
}
// Square made from an edge loop. Collision should be smooth.
{
BodyDef bd = new BodyDef();
Body ground = m_world.createBody(bd);
Vec2[] vs = new Vec2[4];
vs[0] = new Vec2(-1.0f, 3.0f);
vs[1] = new Vec2(1.0f, 3.0f);
vs[2] = new Vec2(1.0f, 5.0f);
vs[3] = new Vec2(-1.0f, 5.0f);
ChainShape shape = new ChainShape();
shape.createLoop(vs, 4);
ground.createFixture(shape, 0.0f);
}
// Edge loop. Collision should be smooth.
{
BodyDef bd = new BodyDef();
bd.position.set(-10.0f, 4.0f);
Body ground = getWorld().createBody(bd);
Vec2[] vs = new Vec2[10];
vs[0] = new Vec2(0.0f, 0.0f);
vs[1] = new Vec2(6.0f, 0.0f);
vs[2] = new Vec2(6.0f, 2.0f);
vs[3] = new Vec2(4.0f, 1.0f);
vs[4] = new Vec2(2.0f, 2.0f);
vs[5] = new Vec2(0.0f, 2.0f);
vs[6] = new Vec2(-2.0f, 2.0f);
vs[7] = new Vec2(-4.0f, 3.0f);
vs[8] = new Vec2(-6.0f, 2.0f);
vs[9] = new Vec2(-6.0f, 0.0f);
ChainShape shape = new ChainShape();
shape.createLoop(vs, 10);
ground.createFixture(shape, 0.0f);
}
// Square character 1
{
BodyDef bd = new BodyDef();
bd.position.set(-3.0f, 8.0f);
bd.type = BodyType.DYNAMIC;
bd.fixedRotation = true;
bd.allowSleep = false;
Body body = getWorld().createBody(bd);
PolygonShape shape = new PolygonShape();
shape.setAsBox(0.5f, 0.5f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 20.0f;
body.createFixture(fd);
}
// Square character 2
{
BodyDef bd = new BodyDef();
bd.position.set(-5.0f, 5.0f);
bd.type = BodyType.DYNAMIC;
bd.fixedRotation = true;
bd.allowSleep = false;
Body body = getWorld().createBody(bd);
PolygonShape shape = new PolygonShape();
shape.setAsBox(0.25f, 0.25f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 20.0f;
body.createFixture(fd);
}
// Hexagon character
{
BodyDef bd = new BodyDef();
bd.position.set(-5.0f, 8.0f);
bd.type = BodyType.DYNAMIC;
bd.fixedRotation = true;
bd.allowSleep = false;
Body body = getWorld().createBody(bd);
float angle = 0.0f;
float delta = MathUtils.PI/3.0f;
Vec2[] vertices = new Vec2[6];
for (int i = 0; i < 6; ++i)
{
vertices[i] = new Vec2(0.5f*MathUtils.cos(angle), 0.5f*MathUtils.sin(angle));
angle += delta;
}
PolygonShape shape = new PolygonShape();
shape.set(vertices, 6);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 20.0f;
body.createFixture(fd);
}
// Circle character
{
BodyDef bd = new BodyDef();
bd.position.set(3.0f, 5.0f);
bd.type = BodyType.DYNAMIC;
bd.fixedRotation = true;
bd.allowSleep = false;
Body body = getWorld().createBody(bd);
CircleShape shape = new CircleShape();
shape.m_radius = 0.5f;
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 20.0f;
body.createFixture(fd);
}
// Circle character
{
BodyDef bd = new BodyDef();
bd.position.set(-7.0f, 6.0f);
bd.type = BodyType.DYNAMIC;
bd.allowSleep = false;
m_character = getWorld().createBody(bd);
CircleShape shape = new CircleShape();
shape.m_radius = 0.25f;
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 20.0f;
fd.friction = 1;
m_character.createFixture(fd);
}
}
private void launchBomb(Vec2 position, Vec2 velocity)
{
if (bomb != null)
{
m_world.destroyBody(bomb);
bomb = null;
}
// todo optimize this
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.position.set(position);
bd.bullet = true;
bomb = m_world.createBody(bd);
bomb.setLinearVelocity(velocity);
CircleShape circle = new CircleShape();
circle.m_radius = 0.3f;
FixtureDef fd = new FixtureDef();
fd.shape = circle;
fd.density = 20f;
fd.restitution = 0;
Vec2 minV = new Vec2(position);
Vec2 maxV = new Vec2(position);
minV.subLocal(new Vec2(.3f, .3f));
maxV.addLocal(new Vec2(.3f, .3f));
aabb.lowerBound.set(minV);
aabb.upperBound.set(maxV);
bomb.createFixture(fd);
}
public override void initTest(bool argDeserialized)
{
if (argDeserialized)
{
return;
}
{
BodyDef bd = new BodyDef();
Body ground = getWorld().createBody(bd);
EdgeShape shape = new EdgeShape();
// Floor
shape.set(new Vec2(-10.0f, 0.0f), new Vec2(10.0f, 0.0f));
ground.createFixture(shape, 0.0f);
// Left wall
shape.set(new Vec2(-10.0f, 0.0f), new Vec2(-10.0f, 20.0f));
ground.createFixture(shape, 0.0f);
// Right wall
shape.set(new Vec2(10.0f, 0.0f), new Vec2(10.0f, 20.0f));
ground.createFixture(shape, 0.0f);
// Roof
shape.set(new Vec2(-10.0f, 20.0f), new Vec2(10.0f, 20.0f));
ground.createFixture(shape, 0.0f);
}
float radius = 0.5f;
CircleShape shape2 = new CircleShape();
shape2.m_p.setZero();
shape2.m_radius = radius;
FixtureDef fd = new FixtureDef();
fd.shape = shape2;
fd.density = 1.0f;
fd.friction = 0.1f;
for (int j = 0; j < e_columnCount; ++j)
{
for (int i = 0; i < e_rowCount; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.position.set(-10.0f + (2.1f*j + 1.0f + 0.01f*i)*radius, (2.0f*i + 1.0f)*radius);
Body body = getWorld().createBody(bd);
body.createFixture(fd);
}
}
getWorld().setGravity(new Vec2(0.0f, 0.0f));
}
public override void initTest(bool argDeserialized)
{
{
BodyDef bd = new BodyDef();
bd.position.set(0.0f, 0.0f);
Body body = getWorld().createBody(bd);
EdgeShape shape = new EdgeShape();
shape.set(new Vec2(-10.0f, 0.0f), new Vec2(10.0f, 0.0f));
body.createFixture(shape, 0.0f);
PolygonShape pshape = new PolygonShape();
pshape.setAsBox(0.2f, 1.0f, new Vec2(0.5f, 1.0f), 0.0f);
body.createFixture(pshape, 0.0f);
}
m_poly = new PolygonShape();
m_poly.setAsBox(2.0f, 0.1f);
m_circle = new CircleShape();
m_circle.m_p.setZero();
m_circle.m_radius = 0.5f;
BodyDef bd2 = new BodyDef();
bd2.type = BodyType.DYNAMIC;
bd2.position.set(0.0f, 20.0f);
m_body = getWorld().createBody(bd2);
currFixture = m_body.createFixture(m_poly, 1.0f);
m_angularVelocity = (float) _random.NextDouble()*100 - 50;
m_angularVelocity = 33.468121f;
m_body.setLinearVelocity(new Vec2(0.0f, -100.0f));
m_body.setAngularVelocity(m_angularVelocity);
TimeOfImpact.toiCalls = 0;
TimeOfImpact.toiIters = 0;
TimeOfImpact.toiMaxIters = 0;
TimeOfImpact.toiRootIters = 0;
TimeOfImpact.toiMaxRootIters = 0;
}
public override void initTest(bool deserialized)
{
for (int i = 0; i < m_touching.Length; i++)
{
m_touching[i] = new BoolWrapper();
}
{
BodyDef bd = new BodyDef();
Body ground = getWorld().createBody(bd);
{
EdgeShape shape = new EdgeShape();
shape.set(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
ground.createFixture(shape, 0.0f);
}
{
CircleShape shape = new CircleShape();
shape.m_radius = 5.0f;
shape.m_p.set(0.0f, 10.0f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd._isSensor = true;
m_sensor = ground.createFixture(fd);
}
}
{
CircleShape shape = new CircleShape();
shape.m_radius = 1.0f;
for (int i = 0; i < _e_count; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.position.set(-10.0f + 3.0f*i, 20.0f);
bd.userData = m_touching[i];
m_touching[i].tf = false;
m_bodies[i] = getWorld().createBody(bd);
m_bodies[i].createFixture(shape, 1.0f);
}
}
}
public override void initTest(bool deserialized)
{
if (deserialized)
{
return;
}
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = getWorld().createBody(bd);
EdgeShape shape = new EdgeShape();
shape.set(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
ground.createFixture(shape, 0.0f);
}
{
CircleShape shape = new CircleShape();
shape.m_radius = 0.5f;
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
RevoluteJointDef rjd = new RevoluteJointDef();
bd.position.set(-10f, 20.0f);
Body body = getWorld().createBody(bd);
body.createFixture(shape, 5.0f);
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*MathUtils.PI;
rjd.maxMotorTorque = 10000.0f;
rjd.enableMotor = false;
rjd.lowerAngle = -0.25f*MathUtils.PI;
rjd.upperAngle = 0.5f*MathUtils.PI;
rjd.enableLimit = true;
rjd.collideConnected = true;
m_joint = (RevoluteJoint) getWorld().createJoint(rjd);
}
{
CircleShape circle_shape = new CircleShape();
circle_shape.m_radius = 3.0f;
BodyDef circle_bd = new BodyDef();
circle_bd.type = BodyType.DYNAMIC;
circle_bd.position.set(5.0f, 30.0f);
FixtureDef fd = new FixtureDef();
fd.density = 5.0f;
fd.filter.maskBits = 1;
fd.shape = circle_shape;
Body ball = m_world.createBody(circle_bd);
ball.createFixture(fd);
PolygonShape polygon_shape = new PolygonShape();
polygon_shape.setAsBox(10.0f, 0.2f, new Vec2(-10.0f, 0.0f), 0.0f);
BodyDef polygon_bd = new BodyDef();
polygon_bd.position.set(20.0f, 10.0f);
polygon_bd.type = BodyType.DYNAMIC;
polygon_bd.bullet = true;
Body polygon_body = m_world.createBody(polygon_bd);
polygon_body.createFixture(polygon_shape, 2.0f);
RevoluteJointDef rjd = new RevoluteJointDef();
rjd.initialize(ground, polygon_body, new Vec2(20.0f, 10.0f));
rjd.lowerAngle = -0.25f*MathUtils.PI;
rjd.upperAngle = 0.0f*MathUtils.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.DYNAMIC;
Body body = m_world.createBody(bodyDef);
PolygonShape polyShape = new PolygonShape();
Vec2[] verts = new Vec2[3];
verts[0] = new Vec2(17.63f, 36.31f);
verts[1] = new Vec2(17.52f, 36.69f);
verts[2] = new Vec2(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 override void keyPressed(char argKeyChar, int argKeyCode)
{
switch (argKeyChar)
{
case ',':
if (m_bullet != null)
{
getWorld().destroyBody(m_bullet);
m_bullet = null;
}
{
CircleShape shape = new CircleShape();
shape.m_radius = 0.25f;
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 20.0f;
fd.restitution = 0.05f;
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.bullet = true;
bd.position.set(-31.0f, 5.0f);
m_bullet = getWorld().createBody(bd);
m_bullet.createFixture(fd);
m_bullet.setLinearVelocity(new Vec2(400.0f, 0.0f));
}
break;
}
}
public override void keyPressed(char key, int argKeyCode)
{
switch (key)
{
case 'c':
if (m_fixture2 == null)
{
CircleShape shape = new CircleShape();
shape.m_radius = 3.0f;
shape.m_p.set(0.5f, -4.0f);
m_fixture2 = m_body.createFixture(shape, 10.0f);
m_body.setAwake(true);
}
break;
case 'd':
if (m_fixture2 != null)
{
m_body.destroyFixture(m_fixture2);
m_fixture2 = null;
m_body.setAwake(true);
}
break;
}
}
public override void initTest(bool argDeserialized)
{
if (argDeserialized)
{
return;
}
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 = getWorld().createBody(bd);
EdgeShape shape = new EdgeShape();
shape.set(new Vec2(-50.0f, 0.0f), new Vec2(50.0f, 0.0f));
ground.createFixture(shape, 0.0f);
shape.set(new Vec2(-50.0f, 0.0f), new Vec2(-50.0f, 10.0f));
ground.createFixture(shape, 0.0f);
shape.set(new Vec2(50.0f, 0.0f), new Vec2(50.0f, 10.0f));
ground.createFixture(shape, 0.0f);
}
// Balls
for (int i = 0; i < 40; ++i)
{
CircleShape shape = new CircleShape();
shape.m_radius = 0.25f;
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.position.set(-40.0f + 2.0f*i, 0.5f);
Body body = getWorld().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.type = BodyType.DYNAMIC;
bd.position.set(pivot);
bd.position.addLocal(m_offset);
m_chassis = getWorld().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.DYNAMIC;
bd.position.set(pivot);
bd.position.addLocal(m_offset);
m_wheel = getWorld().createBody(bd);
m_wheel.createFixture(sd);
}
{
RevoluteJointDef jd = new RevoluteJointDef();
jd.initialize(m_wheel, m_chassis, pivot.add(m_offset));
jd.collideConnected = false;
jd.motorSpeed = m_motorSpeed;
jd.maxMotorTorque = 400.0f;
jd.enableMotor = m_motorOn;
m_motorJoint = (RevoluteJoint) getWorld().createJoint(jd);
}
Vec2 wheelAnchor;
wheelAnchor = pivot.add(new Vec2(0.0f, -0.8f));
createLeg(-1.0f, wheelAnchor);
createLeg(1.0f, wheelAnchor);
m_wheel.setTransform(m_wheel.getPosition(), 120.0f*MathUtils.PI/180.0f);
createLeg(-1.0f, wheelAnchor);
createLeg(1.0f, wheelAnchor);
m_wheel.setTransform(m_wheel.getPosition(), -120.0f*MathUtils.PI/180.0f);
createLeg(-1.0f, wheelAnchor);
createLeg(1.0f, wheelAnchor);
}
public override void initTest(bool deserialized)
{
{
BodyDef bd = new BodyDef();
Body ground = m_world.createBody(bd);
{
PolygonShape shape = new PolygonShape();
Vec2[] vertices =
new Vec2[] {new Vec2(-40, -10), new Vec2(40, -10), new Vec2(40, 0), new Vec2(-40, 0)};
shape.set(vertices, 4);
ground.createFixture(shape, 0.0f);
}
{
PolygonShape shape = new PolygonShape();
Vec2[] vertices =
new Vec2[] {new Vec2(-40, -1), new Vec2(-20, -1), new Vec2(-20, 20), new Vec2(-40, 30)};
shape.set(vertices, 4);
ground.createFixture(shape, 0.0f);
}
{
PolygonShape shape = new PolygonShape();
Vec2[] vertices =
new Vec2[] {new Vec2(20, -1), new Vec2(40, -1), new Vec2(40, 30), new Vec2(20, 20)};
shape.set(vertices, 4);
ground.createFixture(shape, 0.0f);
}
}
m_world.setParticleRadius(0.2f);
{
PolygonShape shape = new PolygonShape();
shape.setAsBox(20, 10, new Vec2(0, 10), 0);
ParticleGroupDef pd = new ParticleGroupDef();
pd.flags = flags;
pd.shape = shape;
m_world.createParticleGroup(pd);
}
{
BodyDef bd = new BodyDef();
bd.type = BodyType.KINEMATIC;
Body body = m_world.createBody(bd);
circle = body;
CircleShape shape = new CircleShape();
shape.m_p.set(0, 5);
shape.m_radius = 1;
body.createFixture(shape, 0.1f);
body.setLinearVelocity(new Vec2(-6, 0.0f));
}
{
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
Body body = m_world.createBody(bd);
PolygonShape shape = new PolygonShape();
shape.setAsBox(1, 1, new Vec2(-10, 5), 0);
body.createFixture(shape, 0.1f);
}
{
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
Body body = m_world.createBody(bd);
PolygonShape shape = new PolygonShape();
shape.setAsBox(1, 1, new Vec2(10, 5), 0.5f);
body.createFixture(shape, 0.1f);
}
{
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
Body body = m_world.createBody(bd);
EdgeShape shape = new EdgeShape();
shape.set(new Vec2(0, 20), new Vec2(1, 21));
body.createFixture(shape, 0.1f);
}
{
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
Body body = m_world.createBody(bd);
EdgeShape shape = new EdgeShape();
shape.set(new Vec2(3, 20), new Vec2(4, 21));
body.createFixture(shape, 0.1f);
}
{
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
Body body = m_world.createBody(bd);
EdgeShape shape = new EdgeShape();
shape.set(new Vec2(-3, 21), new Vec2(-2, 20));
body.createFixture(shape, 0.1f);
}
}
public override void initTest(bool argDeserialized)
{
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = getWorld().createBody(bd);
EdgeShape shape = new EdgeShape();
shape.set(new Vec2(50.0f, 0.0f), new Vec2(-50.0f, 0.0f));
ground.createFixture(shape, 0.0f);
}
{
CircleShape circle1 = new CircleShape();
circle1.m_radius = 1.0f;
PolygonShape box = new PolygonShape();
box.setAsBox(0.5f, 5.0f);
CircleShape circle2 = new CircleShape();
circle2.m_radius = 2.0f;
BodyDef bd1 = new BodyDef();
bd1.type = BodyType.STATIC;
bd1.position.set(10.0f, 9.0f);
Body body1 = m_world.createBody(bd1);
body1.createFixture(circle1, 5.0f);
BodyDef bd2 = new BodyDef();
bd2.type = BodyType.DYNAMIC;
bd2.position.set(10.0f, 8.0f);
Body body2 = m_world.createBody(bd2);
body2.createFixture(box, 5.0f);
BodyDef bd3 = new BodyDef();
bd3.type = BodyType.DYNAMIC;
bd3.position.set(10.0f, 6.0f);
Body body3 = m_world.createBody(bd3);
body3.createFixture(circle2, 5.0f);
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;
CircleShape circle2 = new CircleShape();
circle2.m_radius = 2.0f;
PolygonShape box = new PolygonShape();
box.setAsBox(0.5f, 5.0f);
BodyDef bd1 = new BodyDef();
bd1.type = BodyType.DYNAMIC;
bd1.position.set(-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;
ground.getLocalPointToOut(bd1.position, ref jd1.localAnchorA);
body1.getLocalPointToOut(bd1.position, ref jd1.localAnchorB);
jd1.referenceAngle = body1.getAngle() - ground.getAngle();
m_joint1 = (RevoluteJoint) m_world.createJoint(jd1);
BodyDef bd2 = new BodyDef();
bd2.type = BodyType.DYNAMIC;
bd2.position.set(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.type = BodyType.DYNAMIC;
bd3.position.set(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.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 = 1f/circle2.m_radius;
m_joint5 = (GearJoint) m_world.createJoint(jd5);
}
}
public override void initTest(bool deserialized)
{
if (deserialized)
{
return;
}
float y = 16.0f;
float L = 12.0f;
float a = 1.0f;
float b = 2.0f;
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = getWorld().createBody(bd);
EdgeShape shape = new EdgeShape();
shape.set(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
ground.createFixture(shape, 0.0f);
CircleShape circle = new CircleShape();
circle.m_radius = 2.0f;
circle.m_p.set(-10.0f, y + b + L);
ground.createFixture(circle, 0.0f);
circle.m_p.set(10.0f, y + b + L);
ground.createFixture(circle, 0.0f);
}
{
PolygonShape shape = new PolygonShape();
shape.setAsBox(a, b);
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.position.set(-10.0f, y);
Body body1 = getWorld().createBody(bd);
body1.createFixture(shape, 5.0f);
bd.position.set(10.0f, y);
Body body2 = getWorld().createBody(bd);
body2.createFixture(shape, 5.0f);
PulleyJointDef pulleyDef = new PulleyJointDef();
Vec2 anchor1 = new Vec2(-10.0f, y + b);
Vec2 anchor2 = new Vec2(10.0f, y + b);
Vec2 groundAnchor1 = new Vec2(-10.0f, y + b + L);
Vec2 groundAnchor2 = new Vec2(10.0f, y + b + L);
pulleyDef.initialize(body1, body2, groundAnchor1, groundAnchor2, anchor1, anchor2, 2.0f);
m_joint1 = (PulleyJoint) getWorld().createJoint(pulleyDef);
}
}
