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);
}
{
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;
float y = 25.0f;
Body prevBody = ground;
for (int i = 0; i < 30; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.position.set(0.5f + i, y);
Body body = getWorld().createBody(bd);
body.createFixture(fd);
Vec2 anchor = new Vec2(i, y);
jd.initialize(prevBody, body, anchor);
getWorld().createJoint(jd);
prevBody = body;
}
}
}
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);
}
}
}
public override void initTest(bool deserialized)
{
{
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;
getGroundBody().createFixture(fd);
}
// Define motorized body
{
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.position.set(0.0f, 8.0f);
Body body = getWorld().createBody(bd);
PolygonShape shape = new PolygonShape();
shape.setAsBox(2.0f, 0.5f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.friction = 0.6f;
fd.density = 2.0f;
body.createFixture(fd);
MotorJointDef mjd = new MotorJointDef();
mjd.initialize(getGroundBody(), body);
mjd.maxForce = 1000.0f;
mjd.maxTorque = 1000.0f;
m_joint = (MotorJoint) m_world.createJoint(mjd);
}
m_go = false;
m_time = 0.0f;
}
public override void initTest(bool deserialized)
{
if (deserialized)
{
return;
}
// Ground
{
EdgeShape shape = new EdgeShape();
shape.set(new Vec2(-20.0f, 0.0f), new Vec2(20.0f, 0.0f));
getGroundBody().createFixture(shape, 0.0f);
}
// Platform
{
BodyDef bd = new BodyDef();
bd.position.set(-5.0f, 5.0f);
Body body = getWorld().createBody(bd);
PolygonShape shape = new PolygonShape();
shape.setAsBox(10.0f, 0.5f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.friction = 0.8f;
m_platform = body.createFixture(fd);
}
// Boxes
for (int i = 0; i < 5; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.position.set(-10.0f + 2.0f*i, 7.0f);
Body body = m_world.createBody(bd);
PolygonShape shape = new PolygonShape();
shape.setAsBox(0.5f, 0.5f);
body.createFixture(shape, 20.0f);
}
}
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 argDeserialized)
{
if (argDeserialized)
{
return;
}
{
// Floor
FixtureDef fd = new FixtureDef();
PolygonShape sd = new PolygonShape();
sd.setAsBox(50.0f, 10.0f);
fd.shape = sd;
BodyDef bd = new BodyDef();
bd.position = new Vec2(0.0f, -10.0f);
getWorld().createBody(bd).createFixture(fd);
}
{
// Platforms
for (int i = 0; i < 4; i++)
{
FixtureDef fd = new FixtureDef();
PolygonShape sd = new PolygonShape();
sd.setAsBox(15.0f, 0.125f);
fd.shape = sd;
BodyDef bd = new BodyDef();
bd.position = new Vec2(0.0f, 5f + 5f*i);
getWorld().createBody(bd).createFixture(fd);
}
}
{
FixtureDef fd = new FixtureDef();
PolygonShape sd = new PolygonShape();
sd.setAsBox(0.125f, 2f);
fd.shape = sd;
fd.density = 25.0f;
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
float friction = .5f;
int numPerRow = 25;
for (int i = 0; i < 4; ++i)
{
for (int j = 0; j < numPerRow; j++)
{
fd.friction = friction;
bd.position = new Vec2(-14.75f + j*(29.5f/(numPerRow - 1)), 7.3f + 5f*i);
if (i == 2 && j == 0)
{
bd.angle = -0.1f;
bd.position.x += .1f;
}
else if (i == 3 && j == numPerRow - 1)
{
bd.angle = .1f;
bd.position.x -= .1f;
}
else
bd.angle = 0f;
Body myBody = getWorld().createBody(bd);
myBody.createFixture(fd);
}
}
}
}
public override void initTest(bool argDeserialized)
{
if (argDeserialized)
{
return;
}
{
// Floor
PolygonShape sd = new PolygonShape();
sd.setAsBox(50.0f, 10.0f);
BodyDef bd = new BodyDef();
bd.position = new Vec2(0.0f, -10.0f);
getWorld().createBody(bd).createFixture(sd, 0f);
}
{
ddensity = 10f;
// Make bullet
PolygonShape sd = new PolygonShape();
sd.setAsBox(.7f, .7f);
FixtureDef fd = new FixtureDef();
fd.density = 35f;
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
fd.shape = sd;
fd.friction = 0f;
fd.restitution = 0.85f;
bd.bullet = true;
// bd.addShape(sd);
bd.position = new Vec2(30f, 50f);
Body b = getWorld().createBody(bd);
b.createFixture(fd);
b.setLinearVelocity(new Vec2(-25f, -25f));
b.setAngularVelocity(6.7f);
fd.density = 25f;
bd.position = new Vec2(-30, 25f);
b = getWorld().createBody(bd);
b.createFixture(fd);
b.setLinearVelocity(new Vec2(35f, -10f));
b.setAngularVelocity(-8.3f);
}
{
float currX;
// Make base
for (int i = 0; i < baseCount; ++i)
{
currX = i*1.5f*dheight - (1.5f*dheight*baseCount/2f);
makeDomino(currX, dheight/2.0f, false, m_world);
makeDomino(currX, dheight + dwidth/2.0f, true, m_world);
}
currX = baseCount*1.5f*dheight - (1.5f*dheight*baseCount/2f);
// Make 'I's
for (int j = 1; j < baseCount; ++j)
{
if (j > 3)
ddensity *= .8f;
float currY = dheight*.5f + (dheight + 2f*dwidth)*.99f*j; // y at center of 'I'
// structure
for (int i = 0; i < baseCount - j; ++i)
{
currX = i*1.5f*dheight - (1.5f*dheight*(baseCount - j)/2f); // +
// parent.random(-.05f,
// .05f);
ddensity *= 2.5f;
if (i == 0)
{
makeDomino(currX - (1.25f*dheight) + .5f*dwidth, currY - dwidth, false, m_world);
}
if (i == baseCount - j - 1)
{
// if (j != 1) //djm: why is this here? it makes it off balance
makeDomino(currX + (1.25f*dheight) - .5f*dwidth, currY - dwidth, false, m_world);
}
ddensity /= 2.5f;
makeDomino(currX, currY, false, m_world);
makeDomino(currX, currY + .5f*(dwidth + dheight), true, m_world);
makeDomino(currX, currY - .5f*(dwidth + dheight), true, m_world);
}
}
}
}
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);
}
}
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);
}
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 deserialized)
{
m_speed = 3.0f;
if (deserialized)
{
return;
}
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = getWorld().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.DYNAMIC;
bd.position.set(0.0f, 3.0f);
m_attachment = getWorld().createBody(bd);
PolygonShape shape = new PolygonShape();
shape.setAsBox(0.5f, 2.0f);
m_attachment.createFixture(shape, 2.0f);
}
// Define platform
{
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.position.set(-4.0f, 5.0f);
m_platform = getWorld().createBody(bd);
PolygonShape shape = new PolygonShape();
shape.setAsBox(0.5f, 4.0f, new Vec2(4.0f, 0.0f), 0.5f*MathUtils.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;
getWorld().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;
getWorld().createJoint(pjd);
}
// .create a payload
{
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.position.set(0.0f, 8.0f);
Body body = getWorld().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);
}
}
private void Create(int index)
{
if (m_bodies[m_bodyIndex] != null)
{
getWorld().destroyBody(m_bodies[m_bodyIndex]);
m_bodies[m_bodyIndex] = null;
}
BodyDef bd = new BodyDef();
float x = (float) _random.NextDouble()*20 - 10;
float y = (float) _random.NextDouble()*20;
bd.position.set(x, y);
bd.angle = (float) _random.NextDouble()*MathUtils.TWOPI - MathUtils.PI;
m_userData[m_bodyIndex] = index;
bd.userData = m_userData[m_bodyIndex];
if (index == 4)
{
bd.angularDamping = 0.02f;
}
m_bodies[m_bodyIndex] = getWorld().createBody(bd);
if (index < 4)
{
FixtureDef fd = new FixtureDef();
fd.shape = m_polygons[index];
fd.friction = 0.3f;
m_bodies[m_bodyIndex].createFixture(fd);
}
else if (index < 5)
{
FixtureDef fd = new FixtureDef();
fd.shape = m_circle;
fd.friction = 0.3f;
m_bodies[m_bodyIndex].createFixture(fd);
}
else
{
FixtureDef fd = new FixtureDef();
fd.shape = m_edge;
fd.friction = 0.3f;
m_bodies[m_bodyIndex].createFixture(fd);
}
m_bodyIndex = (m_bodyIndex + 1)%e_maxBodies;
}
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);
}
{
PolygonShape shape2 = new PolygonShape();
shape2.setAsBox(13.0f, 0.25f);
BodyDef bd2 = new BodyDef();
bd2.position.set(-4.0f, 22.0f);
bd2.angle = -0.25f;
Body ground = getWorld().createBody(bd2);
ground.createFixture(shape2, 0.0f);
}
{
PolygonShape shape3 = new PolygonShape();
shape3.setAsBox(0.25f, 1.0f);
BodyDef bd3 = new BodyDef();
bd3.position.set(10.5f, 19.0f);
Body ground = getWorld().createBody(bd3);
ground.createFixture(shape3, 0.0f);
}
{
PolygonShape shape4 = new PolygonShape();
shape4.setAsBox(13.0f, 0.25f);
BodyDef bd4 = new BodyDef();
bd4.position.set(4.0f, 14.0f);
bd4.angle = 0.25f;
Body ground = getWorld().createBody(bd4);
ground.createFixture(shape4, 0.0f);
}
{
PolygonShape shape = new PolygonShape();
shape.setAsBox(0.25f, 1.0f);
BodyDef bd = new BodyDef();
bd.position.set(-10.5f, 11.0f);
Body ground = getWorld().createBody(bd);
ground.createFixture(shape, 0.0f);
}
{
PolygonShape shape = new PolygonShape();
shape.setAsBox(13.0f, 0.25f);
BodyDef bd = new BodyDef();
bd.position.set(-4.0f, 6.0f);
bd.angle = -0.25f;
Body ground = getWorld().createBody(bd);
ground.createFixture(shape, 0.0f);
}
{
PolygonShape shape = new PolygonShape();
shape.setAsBox(0.5f, 0.5f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 25.0f;
float[] friction = {0.75f, 0.5f, 0.35f, 0.1f, 0.0f};
for (int i = 0; i < 5; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.position.set(-15.0f + 4.0f*i, 28.0f);
Body body = getWorld().createBody(bd);
fd.friction = friction[i];
body.createFixture(fd);
}
}
}
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 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 void makeDomino(float x, float y, bool horizontal, World world)
{
PolygonShape sd = new PolygonShape();
sd.setAsBox(.5f*dwidth, .5f*dheight);
FixtureDef fd = new FixtureDef();
fd.shape = sd;
fd.density = ddensity;
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
fd.friction = dfriction;
fd.restitution = 0.65f;
bd.position = new Vec2(x, y);
bd.angle = horizontal ? (float) (System.Math.PI/2.0) : 0f;
Body myBody = getWorld().createBody(bd);
myBody.createFixture(fd);
}
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));
}
// We need separation create/destroy functions from the constructor/destructor because
// the destructor cannot access the allocator (no destructor arguments allowed by C++).
public void create(Body body, FixtureDef def)
{
m_userData = def.userData;
m_friction = def.friction;
m_restitution = def.restitution;
m_body = body;
m_next = null;
m_filter.set(def.filter);
m_isSensor = def._isSensor;
m_shape = def.shape.clone();
// Reserve proxy space
int childCount = m_shape.getChildCount();
if (m_proxies == null)
{
m_proxies = new FixtureProxy[childCount];
for (int i = 0; i < childCount; i++)
{
m_proxies[i] = new FixtureProxy();
m_proxies[i].fixture = null;
m_proxies[i].proxyId = (int) BroadPhaseProxy.Null;
}
}
if (m_proxies.Length < childCount)
{
FixtureProxy[] old = m_proxies;
int newLen = MathUtils.max(old.Length*2, childCount);
m_proxies = new FixtureProxy[newLen];
Array.Copy(old, 0, m_proxies, 0, old.Length);
for (int i = 0; i < newLen; i++)
{
if (i >= old.Length)
{
m_proxies[i] = new FixtureProxy();
}
m_proxies[i].fixture = null;
m_proxies[i].proxyId = (int) BroadPhaseProxy.Null;
}
}
m_proxyCount = 0;
m_density = def.density;
}
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 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 deserialized)
{
if (deserialized)
{
return;
}
{
BodyDef bd = new BodyDef();
Body ground = getWorld().createBody(bd);
EdgeShape shape = new EdgeShape();
// shape.setAsBox(40, 10, new Vec2(0,-10), 0);
shape.set(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
ground.createFixture(shape, 0.0f);
shape.set(new Vec2(20.0f, 0.0f), new Vec2(20.0f, 20.0f));
ground.createFixture(shape, 0.0f);
}
float[] xs = new float[] {0.0f, -10.0f, -5.0f, 5.0f, 10.0f};
for (int j = 0; j < e_columnCount; ++j)
{
PolygonShape shape = new PolygonShape();
shape.setAsBox(0.5f, 0.5f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 1.0f;
fd.friction = 0.3f;
for (int i = 0; i < e_rowCount; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
int n = j*e_rowCount + i;
Debug.Assert(n < e_rowCount*e_columnCount);
float x = 0.0f;
// float x = RandomFloat(-0.02f, 0.02f);
// float x = i % 2 == 0 ? -0.025f : 0.025f;
bd.position.set(xs[j] + x, 0.752f + 1.54f*i);
Body body = getWorld().createBody(bd);
body.createFixture(fd);
}
}
m_bullet = null;
}
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));
}
private 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();
vertices[1] = p5.sub(p4);
vertices[2] = p6.sub(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();
vertices[1] = p6.sub(p4);
vertices[2] = p5.sub(p4);
poly2.set(vertices, 3);
}
fd1.shape = poly1;
fd2.shape = poly2;
BodyDef bd1 = new BodyDef(), bd2 = new BodyDef();
bd1.type = BodyType.DYNAMIC;
bd2.type = BodyType.DYNAMIC;
bd1.position = m_offset;
bd2.position = p4.add(m_offset);
bd1.angularDamping = 10.0f;
bd2.angularDamping = 10.0f;
Body body1 = getWorld().createBody(bd1);
Body body2 = getWorld().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.add(m_offset), p5.add(m_offset));
getWorld().createJoint(djd);
djd.initialize(body1, body2, p3.add(m_offset), p4.add(m_offset));
getWorld().createJoint(djd);
djd.initialize(body1, m_wheel, p3.add(m_offset), wheelAnchor.add(m_offset));
getWorld().createJoint(djd);
djd.initialize(body2, m_wheel, p6.add(m_offset), wheelAnchor.add(m_offset));
getWorld().createJoint(djd);
RevoluteJointDef rjd = new RevoluteJointDef();
rjd.initialize(body2, m_chassis, p4.add(m_offset));
getWorld().createJoint(rjd);
}
public override void initTest(bool deserialized)
{
if (deserialized)
{
return;
}
getWorld().setGravity(new Vec2(0.0f, 0.0f));
float k_restitution = 0.4f;
Body ground;
{
BodyDef bd = new BodyDef();
bd.position.set(0.0f, 20.0f);
ground = getWorld().createBody(bd);
EdgeShape shape = new EdgeShape();
FixtureDef sd = new FixtureDef();
sd.shape = shape;
sd.density = 0.0f;
sd.restitution = k_restitution;
// Left vertical
shape.set(new Vec2(-20.0f, -20.0f), new Vec2(-20.0f, 20.0f));
ground.createFixture(sd);
// Right vertical
shape.set(new Vec2(20.0f, -20.0f), new Vec2(20.0f, 20.0f));
ground.createFixture(sd);
// Top horizontal
shape.set(new Vec2(-20.0f, 20.0f), new Vec2(20.0f, 20.0f));
ground.createFixture(sd);
// Bottom horizontal
shape.set(new Vec2(-20.0f, -20.0f), new Vec2(20.0f, -20.0f));
ground.createFixture(sd);
}
{
Transform xf1 = new Transform();
xf1.q.set(0.3524f*MathUtils.PI);
Rot.mulToOutUnsafe(xf1.q, new Vec2(1.0f, 0.0f), ref xf1.p);
Vec2[] vertices = new Vec2[3];
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));
PolygonShape poly1 = new PolygonShape();
poly1.set(vertices, 3);
FixtureDef sd1 = new FixtureDef();
sd1.shape = poly1;
sd1.density = 4.0f;
Transform xf2 = new Transform();
xf2.q.set(-0.3524f*MathUtils.PI);
Rot.mulToOut(xf2.q, new Vec2(-1.0f, 0.0f), ref xf2.p);
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));
PolygonShape poly2 = new PolygonShape();
poly2.set(vertices, 3);
FixtureDef sd2 = new FixtureDef();
sd2.shape = poly2;
sd2.density = 2.0f;
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.angularDamping = 2.0f;
bd.linearDamping = 0.5f;
bd.position.set(0.0f, 2.0f);
bd.angle = MathUtils.PI;
bd.allowSleep = false;
m_body = getWorld().createBody(bd);
m_body.createFixture(sd1);
m_body.createFixture(sd2);
}
{
PolygonShape shape = new PolygonShape();
shape.setAsBox(0.5f, 0.5f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 1.0f;
fd.friction = 0.3f;
for (int i = 0; i < 10; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.position.set(0.0f, 5.0f + 1.54f*i);
Body body = getWorld().createBody(bd);
body.createFixture(fd);
float gravity = 10.0f;
float I = body.getInertia();
float mass = body.getMass();
// For a circle: I = 0.5 * m * r * r ==> r = sqrt(2 * I / m)
float radius = MathUtils.sqrt(2.0f*I/mass);
FrictionJointDef jd = new FrictionJointDef();
jd.localAnchorA.setZero();
jd.localAnchorB.setZero();
jd.bodyA = ground;
jd.bodyB = body;
jd.collideConnected = true;
jd.maxForce = mass*gravity;
jd.maxTorque = mass*radius*gravity;
getWorld().createJoint(jd);
}
}
}
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);
}
private void Create(int index)
{
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
float x = MathUtils.randomFloat(-2.0f, 2.0f);
bd.position.set(x, 10.0f);
bd.angle = MathUtils.randomFloat(-MathUtils.PI, MathUtils.PI);
if (index == 4)
{
bd.angularDamping = 0.02f;
}
m_bodies[m_bodyIndex] = getWorld().createBody(bd);
if (index < 4)
{
FixtureDef fd = new FixtureDef();
fd.shape = m_polygons[index];
fd.density = 1.0f;
fd.friction = 0.3f;
m_bodies[m_bodyIndex].createFixture(fd);
}
else
{
FixtureDef fd = new FixtureDef();
fd.shape = m_circle;
fd.density = 1.0f;
fd.friction = 0.3f;
m_bodies[m_bodyIndex].createFixture(fd);
}
m_bodyIndex = (m_bodyIndex + 1)%k_maxBodies;
}
/**
* Creates a fixture and attach it to this body. Use this function if you need to set some fixture
* parameters, like friction. Otherwise you can create the fixture directly from a shape. If the
* density is non-zero, this function automatically updates the mass of the body. Contacts are not
* created until the next time step.
*
* @param def the fixture definition.
* @warning This function is locked during callbacks.
*/
public Fixture createFixture(FixtureDef def)
{
Debug.Assert(m_world.isLocked() == false);
if (m_world.isLocked() == true)
{
return null;
}
Fixture fixture = new Fixture();
fixture.create(this, def);
if ((m_flags & BodyFlags.Active) == BodyFlags.Active)
{
BroadPhase broadPhase = m_world.m_contactManager.m_broadPhase;
fixture.createProxies(broadPhase, m_xf);
}
fixture.m_next = m_fixtureList;
m_fixtureList = fixture;
++m_fixtureCount;
fixture.m_body = this;
// Adjust mass properties if needed.
if (fixture.m_density > 0.0f)
{
resetMassData();
}
// Let the world know we have a new fixture. This will cause new contacts
// to be created at the beginning of the next time step.
m_world.m_flags |= World.NEW_FIXTURE;
return fixture;
}
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;
}
World world = getWorld();
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = getWorld().createBody(bd);
PolygonShape shape = new PolygonShape();
shape.setAsBox(5.0f, 100.0f);
bd = new BodyDef();
bd.type = BodyType.STATIC;
FixtureDef sides = new FixtureDef();
sides.shape = shape;
sides.density = 0;
sides.friction = 0;
sides.restitution = .8f;
sides.filter.categoryBits = 4;
sides.filter.maskBits = 2;
bd.position.set(-10.01f, 50.0f);
Body bod = world.createBody(bd);
bod.createFixture(sides);
bd.position.set(10.01f, 50.0f);
bod = world.createBody(bd);
bod.createFixture(sides);
}
// turney
{
CircleShape cd;
FixtureDef fd = new FixtureDef();
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
int numPieces = 5;
float radius = 4f;
bd.position = new Vec2(0.0f, 25.0f);
Body body = getWorld().createBody(bd);
for (int i = 0; i < numPieces; i++)
{
cd = new CircleShape();
cd.m_radius = .5f;
fd.shape = cd;
fd.density = 25;
fd.friction = .1f;
fd.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(fd);
}
RevoluteJointDef rjd = new RevoluteJointDef();
rjd.initialize(body, getGroundBody(), body.getPosition());
rjd.motorSpeed = MathUtils.PI;
rjd.maxMotorTorque = 1000000.0f;
rjd.enableMotor = true;
getWorld().createJoint(rjd);
}
{
Body prevBody = ground;
// Define crank.
{
PolygonShape shape = new PolygonShape();
shape.setAsBox(0.5f, 2.0f);
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.position.set(0.0f, 7.0f);
Body body = getWorld().createBody(bd);
body.createFixture(shape, 2.0f);
RevoluteJointDef rjd = new RevoluteJointDef();
rjd.initialize(prevBody, body, new Vec2(0.0f, 5.0f));
rjd.motorSpeed = 1.0f*MathUtils.PI;
rjd.maxMotorTorque = 20000;
rjd.enableMotor = true;
getWorld().createJoint(rjd);
prevBody = body;
}
// Define follower.
{
PolygonShape shape = new PolygonShape();
shape.setAsBox(0.5f, 4.0f);
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.position.set(0.0f, 13.0f);
Body body = getWorld().createBody(bd);
body.createFixture(shape, 2.0f);
RevoluteJointDef rjd = new RevoluteJointDef();
rjd.initialize(prevBody, body, new Vec2(0.0f, 9.0f));
rjd.enableMotor = false;
getWorld().createJoint(rjd);
prevBody = body;
}
// Define piston
{
PolygonShape shape = new PolygonShape();
shape.setAsBox(7f, 2f);
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.position.set(0.0f, 17.0f);
Body body = getWorld().createBody(bd);
FixtureDef piston = new FixtureDef();
piston.shape = shape;
piston.density = 2;
piston.filter.categoryBits = 1;
piston.filter.maskBits = 2;
body.createFixture(piston);
body.setBullet(false);
RevoluteJointDef rjd = new RevoluteJointDef();
rjd.initialize(prevBody, body, new Vec2(0.0f, 17.0f));
getWorld().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;
getWorld().createJoint(pjd);
}
// Create a payload
{
PolygonShape sd = new PolygonShape();
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
FixtureDef fixture = new FixtureDef();
Body body;
for (int i = 0; i < 100; ++i)
{
sd.setAsBox(0.4f, 0.3f);
bd.position.set(-1.0f, 23.0f + i);
bd.bullet = bullet;
body = world.createBody(bd);
fixture.shape = sd;
fixture.density = .1f;
fixture.filter.categoryBits = 2;
fixture.filter.maskBits = 1 | 4 | 2;
body.createFixture(fixture);
}
CircleShape cd = new CircleShape();
cd.m_radius = 0.36f;
for (int i = 0; i < 100; ++i)
{
bd.position.set(1.0f, 23.0f + i);
bd.bullet = bullet;
fixture.shape = cd;
fixture.density = 2f;
fixture.filter.categoryBits = 2;
fixture.filter.maskBits = 1 | 4 | 2;
body = world.createBody(bd);
body.createFixture(fixture);
}
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(0.3f*MathUtils.cos(angle), 0.3f*MathUtils.sin(angle));
angle += delta;
}
PolygonShape shape = new PolygonShape();
shape.set(vertices, 6);
for (int i = 0; i < 100; ++i)
{
bd.position.set(0f, 23.0f + i);
bd.type = BodyType.DYNAMIC;
bd.fixedRotation = true;
bd.bullet = bullet;
fixture.shape = shape;
fixture.density = 1f;
fixture.filter.categoryBits = 2;
fixture.filter.maskBits = 1 | 4 | 2;
body = world.createBody(bd);
body.createFixture(fixture);
}
}
}
}