public Bridge()
{
Body ground;
{
PolygonDef sd = new PolygonDef();
sd.ShapeType = ShapeType.e_polygonShape;
sd.SetAsBox(50.0f, 10.0f);
BodyDef bd = new BodyDef();
bd.Position = new Vector(0, -10);
ground = world.CreateBody(bd);
ground.CreateShape(sd);
}
{
PolygonDef sd = new PolygonDef();
sd.SetAsBox(0.5f, 0.125f);
sd.Density = 20.0f;
sd.Friction = 0.2f;
BodyDef bd = new BodyDef();
bd.BodyType = BodyType.e_dynamicBody;
RevoluteJointDef jd = new RevoluteJointDef();
const float numPlanks = 30;
Body prevBody = ground;
for (float i = 0; i < numPlanks; ++i)
{
bd.Position = new Vector(-14.5f + i, 5);
Body body = world.CreateBody(bd);
body.CreateShape(sd);
body.SetMassFromShapes();
Vector anchor = new Vector(-15 + i, 5);
jd.Initialize(prevBody, body, anchor);
world.CreateJoint(jd);
prevBody = body;
}
Vector anchor2 = new Vector(-15 + numPlanks, 5);
jd.Initialize(prevBody, ground, anchor2);
world.CreateJoint(jd);
}
}
public Chain()
{
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = _world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vector2(-40.0f, 0.0f), new Vector2(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 = new Vector2(0.5f + i, y);
Body body = _world.CreateBody(bd);
body.CreateFixture(fd);
Vector2 anchor = new Vector2((float)i, y);
jd.Initialize(prevBody, body, anchor);
_world.CreateJoint(jd);
prevBody = body;
}
}
}
public Revolute()
{
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = _world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
{
CircleShape shape = new CircleShape();
shape._radius = 0.5f;
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
RevoluteJointDef rjd = new RevoluteJointDef();
bd.position = new Vector2(0.0f, 20.0f);
Body body = _world.CreateBody(bd);
body.CreateFixture(shape, 5.0f);
float w = 100.0f;
body.SetAngularVelocity(w);
body.SetLinearVelocity(new Vector2(-8.0f * w, 0.0f));
rjd.Initialize(ground, body, new Vector2(0.0f, 12.0f));
rjd.motorSpeed = 1.0f * (float)Settings.b2_pi;
rjd.maxMotorTorque = 10000.0f;
rjd.enableMotor = false;
rjd.lowerAngle = -0.25f * (float)Settings.b2_pi;
rjd.upperAngle = 0.5f * (float)Settings.b2_pi;
rjd.enableLimit = true;
rjd.collideConnected = true;
_joint = (RevoluteJoint)_world.CreateJoint(rjd);
}
}
private TheoJansenTest()
{
_offset = new Vector2(0.0f, 8.0f);
_motorSpeed = 2.0f;
_motorOn = true;
Vector2 pivot = new Vector2(0.0f, 0.8f);
// Ground
{
BodyDef bd = new BodyDef();
Body ground = BodyFactory.CreateFromDef(World, bd);
EdgeShape shape = new EdgeShape();
shape.SetTwoSided(new Vector2(-50.0f, 0.0f), new Vector2(50.0f, 0.0f));
ground.AddFixture(shape);
shape.SetTwoSided(new Vector2(-50.0f, 0.0f), new Vector2(-50.0f, 10.0f));
ground.AddFixture(shape);
shape.SetTwoSided(new Vector2(50.0f, 0.0f), new Vector2(50.0f, 10.0f));
ground.AddFixture(shape);
}
// Balls
for (int i = 0; i < 40; ++i)
{
CircleShape shape = new CircleShape(1.0f);
shape.Radius = 0.25f;
BodyDef bd = new BodyDef();
bd.Type = BodyType.Dynamic;
bd.Position = new Vector2(-40.0f + 2.0f * i, 0.5f);
Body body = BodyFactory.CreateFromDef(World, bd);
body.AddFixture(shape);
}
// Chassis
{
PolygonShape shape = new PolygonShape(1.0f);
shape.SetAsBox(2.5f, 1.0f);
FixtureDef sd = new FixtureDef();
sd.Shape = shape;
sd.Filter.Group = -1;
BodyDef bd = new BodyDef();
bd.Type = BodyType.Dynamic;
bd.Position = pivot + _offset;
_chassis = BodyFactory.CreateFromDef(World, bd);
_chassis.AddFixture(sd);
}
{
CircleShape shape = new CircleShape(1.0f);
shape.Radius = 1.6f;
FixtureDef sd = new FixtureDef();
sd.Shape = shape;
sd.Filter.Group = -1;
BodyDef bd = new BodyDef();
bd.Type = BodyType.Dynamic;
bd.Position = pivot + _offset;
_wheel = BodyFactory.CreateFromDef(World, bd);
_wheel.AddFixture(sd);
}
{
RevoluteJointDef jd = new RevoluteJointDef();
jd.Initialize(_wheel, _chassis, pivot + _offset);
jd.CollideConnected = false;
jd.MotorSpeed = _motorSpeed;
jd.MaxMotorTorque = 400.0f;
jd.EnableMotor = _motorOn;
_motorJoint = (RevoluteJoint)JointFactory.CreateFromDef(World, jd);
}
Vector2 wheelAnchor;
wheelAnchor = pivot + new Vector2(0.0f, -0.8f);
CreateLeg(-1.0f, wheelAnchor);
CreateLeg(1.0f, wheelAnchor);
_wheel.SetTransform(_wheel.Position, 120.0f * MathConstants.Pi / 180.0f);
CreateLeg(-1.0f, wheelAnchor);
CreateLeg(1.0f, wheelAnchor);
_wheel.SetTransform(_wheel.Position, -120.0f * MathConstants.Pi / 180.0f);
CreateLeg(-1.0f, wheelAnchor);
CreateLeg(1.0f, wheelAnchor);
}
public Bridge()
{
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = _world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vector2(-40.0f, 0.0f), new Vector2(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;
fd.friction = 0.2f;
RevoluteJointDef jd = new RevoluteJointDef();
Body prevBody = ground;
for (int i = 0; i < e_count; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(-14.5f + 1.0f * i, 5.0f);
Body body = _world.CreateBody(bd);
body.CreateFixture(fd);
Vector2 anchor = new Vector2(-15.0f + 1.0f * i, 5.0f);
jd.Initialize(prevBody, body, anchor);
_world.CreateJoint(jd);
if (i == (e_count >> 1))
{
_middle = body;
}
prevBody = body;
}
Vector2 anchor2 = new Vector2(-15.0f + 1.0f * e_count, 5.0f);
jd.Initialize(prevBody, ground, anchor2);
_world.CreateJoint(jd);
}
Vector2[] vertices = new Vector2[3];
for (int i = 0; i < 2; ++i)
{
vertices[0] = new Vector2(-0.5f, 0.0f);
vertices[1] = new Vector2(0.5f, 0.0f);
vertices[2] = new Vector2(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 = new Vector2(-8.0f + 8.0f * i, 12.0f);
Body body = _world.CreateBody(bd);
body.CreateFixture(fd);
}
for (int i = 0; i < 3; ++i)
{
CircleShape shape = new CircleShape();
shape._radius = 0.5f;
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 1.0f;
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(-6.0f + 6.0f * i, 10.0f);
Body body = _world.CreateBody(bd);
body.CreateFixture(fd);
}
}
private GearJointTest()
{
Body ground;
{
BodyDef bd = new BodyDef();
ground = BodyFactory.CreateFromDef(World, bd);
EdgeShape shape = new EdgeShape();
shape.SetTwoSided(new Vector2(50.0f, 0.0f), new Vector2(-50.0f, 0.0f));
ground.AddFixture(shape);
}
{
CircleShape circle1 = new CircleShape(5.0f);
circle1.Radius = 1.0f;
PolygonShape box = new PolygonShape(5.0f);
box.SetAsBox(0.5f, 5.0f);
CircleShape circle2 = new CircleShape(5.0f);
circle2.Radius = 2.0f;
BodyDef bd1 = new BodyDef();
bd1.Type = BodyType.Static;
bd1.Position = new Vector2(10.0f, 9.0f);
Body body1 = BodyFactory.CreateFromDef(World, bd1);
body1.AddFixture(circle1);
BodyDef bd2 = new BodyDef();
bd2.Type = BodyType.Dynamic;
bd2.Position = new Vector2(10.0f, 8.0f);
Body body2 = BodyFactory.CreateFromDef(World, bd2);
body2.AddFixture(box);
BodyDef bd3 = new BodyDef();
bd3.Type = BodyType.Dynamic;
bd3.Position = new Vector2(10.0f, 6.0f);
Body body3 = BodyFactory.CreateFromDef(World, bd3);
body3.AddFixture(circle2);
RevoluteJointDef jd1 = new RevoluteJointDef();
jd1.Initialize(body1, body2, bd1.Position);
Joint joint1 = JointFactory.CreateFromDef(World, jd1);
RevoluteJointDef jd2 = new RevoluteJointDef();
jd2.Initialize(body2, body3, bd3.Position);
Joint joint2 = JointFactory.CreateFromDef(World, jd2);
GearJointDef jd4 = new GearJointDef();
jd4.BodyA = body1;
jd4.BodyB = body3;
jd4.JointA = joint1;
jd4.JointB = joint2;
jd4.Ratio = circle2.Radius / circle1.Radius;
JointFactory.CreateFromDef(World, jd4);
}
{
CircleShape circle1 = new CircleShape(5.0f);
circle1.Radius = 1.0f;
CircleShape circle2 = new CircleShape(5.0f);
circle2.Radius = 2.0f;
PolygonShape box = new PolygonShape(5.0f);
box.SetAsBox(0.5f, 5.0f);
BodyDef bd1 = new BodyDef();
bd1.Type = BodyType.Dynamic;
bd1.Position = new Vector2(-3.0f, 12.0f);
Body body1 = BodyFactory.CreateFromDef(World, bd1);
body1.AddFixture(circle1);
RevoluteJointDef jd1 = new RevoluteJointDef();
jd1.BodyA = ground;
jd1.BodyB = body1;
jd1.LocalAnchorA = ground.GetLocalPoint(bd1.Position);
jd1.LocalAnchorB = body1.GetLocalPoint(bd1.Position);
jd1.ReferenceAngle = body1.Rotation - ground.Rotation;
_joint1 = (RevoluteJoint)JointFactory.CreateFromDef(World, jd1);
BodyDef bd2 = new BodyDef();
bd2.Type = BodyType.Dynamic;
bd2.Position = new Vector2(0.0f, 12.0f);
Body body2 = BodyFactory.CreateFromDef(World, bd2);
body2.AddFixture(circle2);
RevoluteJointDef jd2 = new RevoluteJointDef();
jd2.Initialize(ground, body2, bd2.Position);
_joint2 = (RevoluteJoint)JointFactory.CreateFromDef(World, jd2);
BodyDef bd3 = new BodyDef();
bd3.Type = BodyType.Dynamic;
bd3.Position = new Vector2(2.5f, 12.0f);
Body body3 = BodyFactory.CreateFromDef(World, bd3);
body3.AddFixture(box);
PrismaticJointDef jd3 = new PrismaticJointDef();
jd3.Initialize(ground, body3, bd3.Position, new Vector2(0.0f, 1.0f));
jd3.LowerTranslation = -5.0f;
jd3.UpperTranslation = 5.0f;
jd3.EnableLimit = true;
_joint3 = (PrismaticJoint)JointFactory.CreateFromDef(World, jd3);
GearJointDef jd4 = new GearJointDef();
jd4.BodyA = body1;
jd4.BodyB = body2;
jd4.JointA = _joint1;
jd4.JointB = _joint2;
jd4.Ratio = circle2.Radius / circle1.Radius;
_joint4 = (GearJoint)JointFactory.CreateFromDef(World, jd4);
GearJointDef jd5 = new GearJointDef();
jd5.BodyA = body2;
jd5.BodyB = body3;
jd5.JointA = _joint2;
jd5.JointB = _joint3;
jd5.Ratio = -1.0f / circle2.Radius;
_joint5 = (GearJoint)JointFactory.CreateFromDef(World, jd5);
}
}
public WreckingBall()
{
Body ground;
{
var bd = new BodyDef();
ground = World.CreateBody(bd);
var shape = new EdgeShape();
shape.SetTwoSided(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
{
var shape = new PolygonShape();
shape.SetAsBox(0.5f, 0.125f);
var fd = new FixtureDef();
fd.Shape = shape;
fd.Density = 20.0f;
fd.Friction = 0.2f;
var filter = fd.Filter;
filter.CategoryBits = 0x0001;
filter.MaskBits = 0xFFFF & ~0x0002;
fd.Filter = filter;
var jd = new RevoluteJointDef();
jd.CollideConnected = false;
const int N = 10;
const float y = 15.0f;
_distanceJointDef.LocalAnchorA.Set(0.0f, y);
var prevBody = ground;
for (var i = 0; i < N; ++i)
{
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position.Set(0.5f + 1.0f * i, y);
if (i == N - 1)
{
bd.Position.Set(1.0f * i, y);
bd.AngularDamping = 0.4f;
}
var body = World.CreateBody(bd);
if (i == N - 1)
{
CircleShape circleShape = new CircleShape();
circleShape.Radius = 1.5f;
FixtureDef sfd = new FixtureDef();
sfd.Shape = circleShape;
sfd.Density = 100.0f;
sfd.Filter.CategoryBits = 0x0002;
body.CreateFixture(sfd);
}
else
{
body.CreateFixture(fd);
}
body.CreateFixture(fd);
var anchor = new Vector2(i, y);
jd.Initialize(prevBody, body, anchor);
World.CreateJoint(jd);
prevBody = body;
}
_distanceJointDef.LocalAnchorB.SetZero();
var extraLength = 0.01f;
_distanceJointDef.MinLength = 0.0f;
_distanceJointDef.MaxLength = N - 1.0f + extraLength;
_distanceJointDef.BodyB = prevBody;
}
{
_distanceJointDef.BodyA = ground;
_distanceJoint = World.CreateJoint(_distanceJointDef);
_stabilize = true;
}
}
/// <summary>
/// Add objects to the Box2d world.
/// </summary>
protected override void PopulateWorld()
{
// ==== Define the ground body ====
BodyDef groundBodyDef = new BodyDef();
groundBodyDef.Position.Set(0f, -0.25f);
// Call the body factory which creates the ground box shape.
// The body is also added to the world.
Body groundBody = _world.CreateBody(groundBodyDef);
// Define the ground box shape.
PolygonDef groundShapeDef = new PolygonDef();
// The extents are the half-widths of the box.
groundShapeDef.SetAsBox(_trackLengthHalf + 1f, 0.25f);
groundShapeDef.Friction = _simParams._defaultFriction;
groundShapeDef.Restitution = _simParams._defaultRestitution;
groundShapeDef.Filter.CategoryBits = 0x3;
// Add the ground shape to the ground body.
groundBody.CreateShape(groundShapeDef);
// ==== Define the cart body.
BodyDef cartBodyDef = new BodyDef();
cartBodyDef.Position.Set(0f, 0.15f);
// Create cart body.
_cartBody = _world.CreateBody(cartBodyDef);
PolygonDef cartShapeDef = new PolygonDef();
cartShapeDef.SetAsBox(0.5f, 0.125f);
cartShapeDef.Friction = 0f;
cartShapeDef.Restitution = 0f;
cartShapeDef.Density = 16f;
_cartBody.CreateShape(cartShapeDef);
_cartBody.SetMassFromShapes();
// Fix cart to 'track' (prismatic joint).
PrismaticJointDef cartTrackJointDef = new PrismaticJointDef();
cartTrackJointDef.EnableMotor = true;
cartTrackJointDef.LowerTranslation = -_trackLengthHalf;
cartTrackJointDef.UpperTranslation = _trackLengthHalf;
cartTrackJointDef.EnableLimit = true;
cartTrackJointDef.Initialize(groundBody, _cartBody, new Vec2(0f, 0f), new Vec2(1f, 0f));
_cartTrackJoint = (PrismaticJoint)_world.CreateJoint(cartTrackJointDef);
// ===== Create arm1.
const float poleRadius = 0.025f; // Half the thickness of the pole.
Vec2 arm1PosBase = new Vec2(0f, 0.275f);
Body arm1Body = CreatePole(arm1PosBase, _cartJointInitialAngle, poleRadius, 0f, 0f, 2f, 0x0);
// Join arm1 to cart.
RevoluteJointDef poleJointDef = new RevoluteJointDef();
poleJointDef.CollideConnected = false;
poleJointDef.EnableMotor = false;
poleJointDef.MaxMotorTorque = 0f;
poleJointDef.Initialize(_cartBody, arm1Body, arm1PosBase);
_cartJoint = (RevoluteJoint)_world.CreateJoint(poleJointDef);
// ===== Create arm2.
Vec2 arm2PosBase = CalcPoleEndPos(arm1Body);
Body arm2Body = CreatePole(arm2PosBase, _elbowJointInitialAngle, poleRadius, 0f, 0f, 2f, 0x0);
_arm2Body = arm2Body;
// Join arm2 to arm1.
poleJointDef.CollideConnected = false;
poleJointDef.EnableMotor = false;
poleJointDef.MaxMotorTorque = 0f;
poleJointDef.Initialize(arm1Body, arm2Body, arm2PosBase);
_elbowJoint = (RevoluteJoint)_world.CreateJoint(poleJointDef);
}
private void CreateLeg(float s, Vector2 wheelAnchor)
{
var p1 = new Vector2(5.4f * s, -6.1f);
var p2 = new Vector2(7.2f * s, -1.2f);
var p3 = new Vector2(4.3f * s, -1.9f);
var p4 = new Vector2(3.1f * s, 0.8f);
var p5 = new Vector2(6.0f * s, 1.5f);
var p6 = new Vector2(2.5f * s, 3.7f);
var fd1 = new FixtureDef {
Filter = { GroupIndex = -1 }, Density = 1.0f
};
var fd2 = new FixtureDef {
Filter = { GroupIndex = -1 }, Density = 1.0f
};
var poly1 = new PolygonShape();
var poly2 = new PolygonShape();
if (s > 0.0f)
{
var vertices = new Vector2[3];
vertices[0] = p1;
vertices[1] = p2;
vertices[2] = p3;
poly1.Set(vertices);
vertices[0] = Vector2.Zero;
vertices[1] = p5 - p4;
vertices[2] = p6 - p4;
poly2.Set(vertices);
}
else
{
var vertices = new Vector2[3];
vertices[0] = p1;
vertices[1] = p3;
vertices[2] = p2;
poly1.Set(vertices);
vertices[0] = Vector2.Zero;
vertices[1] = p6 - p4;
vertices[2] = p5 - p4;
poly2.Set(vertices);
}
fd1.Shape = poly1;
fd2.Shape = poly2;
var bd1 = new BodyDef();
var bd2 = new BodyDef();
bd1.BodyType = BodyType.DynamicBody;
bd2.BodyType = BodyType.DynamicBody;
bd1.Position = _offset;
bd2.Position = p4 + _offset;
bd1.AngularDamping = 10.0f;
bd2.AngularDamping = 10.0f;
var body1 = World.CreateBody(bd1);
var body2 = World.CreateBody(bd2);
body1.CreateFixture(fd1);
body2.CreateFixture(fd2);
var 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 + _offset, p5 + _offset);
World.CreateJoint(djd);
djd.Initialize(body1, body2, p3 + _offset, p4 + _offset);
World.CreateJoint(djd);
djd.Initialize(body1, _wheel, p3 + _offset, wheelAnchor + _offset);
World.CreateJoint(djd);
djd.Initialize(body2, _wheel, p6 + _offset, wheelAnchor + _offset);
World.CreateJoint(djd);
var rjd = new RevoluteJointDef();
rjd.Initialize(body2, _chassis, p4 + _offset);
World.CreateJoint(rjd);
}
void CreateLeg(float s, Vector2 wheelAnchor)
{
Vector2 p1 = new Vector2(5.4f * s, -6.1f);
Vector2 p2 = new Vector2(7.2f * s, -1.2f);
Vector2 p3 = new Vector2(4.3f * s, -1.9f);
Vector2 p4 = new Vector2(3.1f * s, 0.8f);
Vector2 p5 = new Vector2(6.0f * s, 1.5f);
Vector2 p6 = new Vector2(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();
Vector2[] vertices = new Vector2[3];
if (s > 0.0f)
{
vertices[0] = p1;
vertices[1] = p2;
vertices[2] = p3;
poly1.Set(vertices, 3);
vertices[0] = Vector2.Zero;
vertices[1] = p5 - p4;
vertices[2] = p6 - p4;
poly2.Set(vertices, 3);
}
else
{
vertices[0] = p1;
vertices[1] = p3;
vertices[2] = p2;
poly1.Set(vertices, 3);
vertices[0] = Vector2.Zero;
vertices[1] = p6 - p4;
vertices[2] = p5 - p4;
poly2.Set(vertices, 3);
}
fd1.shape = poly1;
fd2.shape = poly2;
BodyDef bd1 = new BodyDef();
BodyDef bd2 = new BodyDef();
bd1.type = BodyType.Dynamic;
bd2.type = BodyType.Dynamic;
bd1.position = _offset;
bd2.position = p4 + _offset;
bd1.angularDamping = 10.0f;
bd2.angularDamping = 10.0f;
Body body1 = _world.CreateBody(bd1);
Body body2 = _world.CreateBody(bd2);
body1.CreateFixture(fd1);
body2.CreateFixture(fd2);
DistanceJointDef djd = new DistanceJointDef();
// Using a soft distanceraint 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 + _offset, p5 + _offset);
_world.CreateJoint(djd);
djd.Initialize(body1, body2, p3 + _offset, p4 + _offset);
_world.CreateJoint(djd);
djd.Initialize(body1, _wheel, p3 + _offset, wheelAnchor + _offset);
_world.CreateJoint(djd);
djd.Initialize(body2, _wheel, p6 + _offset, wheelAnchor + _offset);
_world.CreateJoint(djd);
RevoluteJointDef rjd = new RevoluteJointDef();
rjd.Initialize(body2, _chassis, p4 + _offset);
_world.CreateJoint(rjd);
}
public Car()
{
{ // car body
PolygonDef poly1 = new PolygonDef(), poly2 = new PolygonDef();
// bottom half
poly1.VertexCount = 5;
poly1.Vertices[4].Set(-2.2f, -0.74f);
poly1.Vertices[3].Set(-2.2f, 0);
poly1.Vertices[2].Set(1.0f, 0);
poly1.Vertices[1].Set(2.2f, -0.2f);
poly1.Vertices[0].Set(2.2f, -0.74f);
poly1.Filter.GroupIndex = -1;
poly1.Density = 20.0f;
poly1.Friction = 0.68f;
poly1.Filter.GroupIndex = -1;
// top half
poly2.VertexCount = 4;
poly2.Vertices[3].Set(-1.7f, 0);
poly2.Vertices[2].Set(-1.3f, 0.7f);
poly2.Vertices[1].Set(0.5f, 0.74f);
poly2.Vertices[0].Set(1.0f, 0);
poly2.Filter.GroupIndex = -1;
poly2.Density = 5.0f;
poly2.Friction = 0.68f;
poly2.Filter.GroupIndex = -1;
BodyDef bd = new BodyDef();
bd.Position.Set(-35.0f, 2.8f);
_vehicle = _world.CreateBody(bd);
_vehicle.CreateFixture(poly1);
_vehicle.CreateFixture(poly2);
_vehicle.SetMassFromShapes();
}
{ // vehicle wheels
CircleDef circ = new CircleDef();
circ.Density = 40.0f;
circ.Radius = 0.38608f;
circ.Friction = 0.8f;
circ.Filter.GroupIndex = -1;
BodyDef bd = new BodyDef();
bd.AllowSleep = false;
bd.Position.Set(-33.8f, 2.0f);
_rightWheel = _world.CreateBody(bd);
_rightWheel.CreateFixture(circ);
_rightWheel.SetMassFromShapes();
bd.Position.Set(-36.2f, 2.0f);
_leftWheel = _world.CreateBody(bd);
_leftWheel.CreateFixture(circ);
_leftWheel.SetMassFromShapes();
}
{ // join wheels to chassis
Vec2 anchor = new Vec2();
RevoluteJointDef jd = new RevoluteJointDef();
jd.Initialize(_vehicle, _leftWheel, _leftWheel.GetWorldCenter());
jd.CollideConnected = false;
jd.EnableMotor = true;
jd.MaxMotorTorque = 10.0f;
jd.MotorSpeed = 0.0f;
_leftJoint = (RevoluteJoint)_world.CreateJoint(jd);
jd.Initialize(_vehicle, _rightWheel, _rightWheel.GetWorldCenter());
jd.CollideConnected = false;
_rightJoint = (RevoluteJoint)_world.CreateJoint(jd);
}
{ // ground
PolygonDef box = new PolygonDef();
box.SetAsBox(19.5f, 0.5f);
box.Friction = 0.62f;
BodyDef bd = new BodyDef();
bd.Position.Set(-25.0f, 1.0f);
Body ground = _world.CreateBody(bd);
ground.CreateFixture(box);
}
{ // more ground
PolygonDef box = new PolygonDef();
BodyDef bd = new BodyDef();
box.SetAsBox(9.5f, 0.5f, Vec2.Zero, 0.1f * Box2DNet.Common.Settings.Pi);
box.Friction = 0.62f;
bd.Position.Set(27.0f - 30.0f, 3.1f);
Body ground = _world.CreateBody(bd);
ground.CreateFixture(box);
}
{ // more ground
PolygonDef box = new PolygonDef();
BodyDef bd = new BodyDef();
box.SetAsBox(9.5f, 0.5f, Vec2.Zero, -0.1f * Box2DNet.Common.Settings.Pi);
box.Friction = 0.62f;
bd.Position.Set(55.0f - 30.0f, 3.1f);
Body ground = _world.CreateBody(bd);
ground.CreateFixture(box);
}
{ // more ground
PolygonDef box = new PolygonDef();
BodyDef bd = new BodyDef();
box.SetAsBox(9.5f, 0.5f, Vec2.Zero, 0.03f * Box2DNet.Common.Settings.Pi);
box.Friction = 0.62f;
bd.Position.Set(41.0f, 2.0f);
Body ground = _world.CreateBody(bd);
ground.CreateFixture(box);
}
{ // more ground
PolygonDef box = new PolygonDef();
BodyDef bd = new BodyDef();
box.SetAsBox(5.0f, 0.5f, Vec2.Zero, 0.15f * Box2DNet.Common.Settings.Pi);
box.Friction = 0.62f;
bd.Position.Set(50.0f, 4.0f);
Body ground = _world.CreateBody(bd);
ground.CreateFixture(box);
}
{ // more ground
PolygonDef box = new PolygonDef();
BodyDef bd = new BodyDef();
box.SetAsBox(20.0f, 0.5f);
box.Friction = 0.62f;
bd.Position.Set(85.0f, 2.0f);
Body ground = _world.CreateBody(bd);
ground.CreateFixture(box);
}
}
public Dominos()
{
Body b1;
{
EdgeShape shape = new EdgeShape();
shape.Set(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
shape.Density = 0;
BodyDef bd = new BodyDef();
b1 = m_world.CreateBody(bd);
b1.CreateFixture(shape);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(6.0f, 0.25f);
BodyDef bd = new BodyDef();
bd.Position.Set(-1.5f, 10.0f);
Body ground = m_world.CreateBody(bd);
shape.Density = 0;
ground.CreateFixture(shape);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.1f, 1.0f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.Density = 20.0f;
fd.friction = 0.1f;
for (int i = 0; i < 10; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(-6.0f + 1.0f * i, 11.25f);
Body body = m_world.CreateBody(bd);
body.CreateFixture(fd);
}
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(7.0f, 0.25f, new Vec2(0, 0), 0.3f);
shape.Density = 0;
BodyDef bd = new BodyDef();
bd.Position.Set(1.0f, 6.0f);
Body ground = m_world.CreateBody(bd);
ground.CreateFixture(shape);
}
Body b2;
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.25f, 1.5f);
shape.Density = 0;
BodyDef bd = new BodyDef();
bd.Position.Set(-7.0f, 4.0f);
b2 = m_world.CreateBody(bd);
b2.CreateFixture(shape);
}
Body b3;
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(6.0f, 0.125f);
shape.Density = 10;
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(-0.9f, 1.0f);
bd.angle = -0.15f;
b3 = m_world.CreateBody(bd);
b3.CreateFixture(shape);
}
RevoluteJointDef jd = new RevoluteJointDef();
Vec2 anchor = new Vec2();
anchor.Set(-2.0f, 1.0f);
jd.Initialize(b1, b3, anchor);
jd.collideConnected = true;
m_world.CreateJoint(jd);
Body b4;
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.25f, 0.25f);
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(-10.0f, 15.0f);
b4 = m_world.CreateBody(bd);
shape.Density = 10;
shape.Density = 10;
b4.CreateFixture(shape);
}
anchor.Set(-7.0f, 15.0f);
jd.Initialize(b2, b4, anchor);
m_world.CreateJoint(jd);
Body b5;
{
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(6.5f, 3.0f);
b5 = m_world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.Density = 10.0f;
fd.friction = 0.1f;
shape.SetAsBox(1.0f, 0.1f, new Vec2(0.0f, -0.9f), 0.0f);
b5.CreateFixture(fd);
shape.SetAsBox(0.1f, 1.0f, new Vec2(-0.9f, 0.0f), 0.0f);
b5.CreateFixture(fd);
shape.SetAsBox(0.1f, 1.0f, new Vec2(0.9f, 0.0f), 0.0f);
b5.CreateFixture(fd);
}
anchor.Set(6.0f, 2.0f);
jd.Initialize(b1, b5, anchor);
m_world.CreateJoint(jd);
Body b6;
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(1.0f, 0.1f);
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(6.5f, 4.1f);
b6 = m_world.CreateBody(bd);
shape.Density = 30;
b6.CreateFixture(shape);
}
anchor.Set(7.5f, 4.0f);
jd.Initialize(b5, b6, anchor);
m_world.CreateJoint(jd);
Body b7;
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.1f, 1.0f);
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(7.4f, 1.0f);
b7 = m_world.CreateBody(bd);
shape.Density = 10;
b7.CreateFixture(shape);
}
DistanceJointDef djd = new DistanceJointDef();
djd.bodyA = b3;
djd.bodyB = b7;
djd.localAnchorA.Set(6.0f, 0.0f);
djd.localAnchorB.Set(0.0f, -1.0f);
Vec2 d = djd.bodyB.GetWorldPoint(djd.localAnchorB) - djd.bodyA.GetWorldPoint(djd.localAnchorA);
djd.length = d.Length();
m_world.CreateJoint(djd);
{
float radius = 0.2f;
CircleShape shape = new CircleShape();
shape.m_radius = radius;
for (int i = 0; i < 4; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(5.9f + 2.0f * radius * i, 2.4f);
Body body = m_world.CreateBody(bd);
shape.Density = 10;
body.CreateFixture(shape);
}
}
}
public BodyTypes()
{
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = _world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vector2(-20.0f, 0.0f), new Vector2(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 = new Vector2(0.0f, 3.0f);
_attachment = _world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.5f, 2.0f);
_attachment.CreateFixture(shape, 2.0f);
}
// Define platform
{
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(-4.0f, 5.0f);
_platform = _world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.5f, 4.0f, new Vector2(4.0f, 0.0f), 0.5f * (float)Math.PI);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.friction = 0.6f;
fd.density = 2.0f;
_platform.CreateFixture(fd);
RevoluteJointDef rjd = new RevoluteJointDef();
rjd.Initialize(_attachment, _platform, new Vector2(0.0f, 5.0f));
rjd.maxMotorTorque = 50.0f;
rjd.enableMotor = true;
_world.CreateJoint(rjd);
PrismaticJointDef pjd = new PrismaticJointDef();
pjd.Initialize(ground, _platform, new Vector2(0.0f, 5.0f), new Vector2(1.0f, 0.0f));
pjd.maxMotorForce = 1000.0f;
pjd.enableMotor = true;
pjd.lowerTranslation = -10.0f;
pjd.upperTranslation = 10.0f;
pjd.enableLimit = true;
_world.CreateJoint(pjd);
_speed = 3.0f;
}
// Create a payload
{
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(0.0f, 8.0f);
Body body = _world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.75f, 0.75f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.friction = 0.6f;
fd.density = 2.0f;
body.CreateFixture(fd);
}
}
public Car()
{
_speed = 50.0f;
Body ground;
{
var bd = new BodyDef();
ground = World.CreateBody(bd);
var shape = new EdgeShape();
var fd = new FixtureDef();
fd.Shape = shape;
fd.Density = 0.0f;
fd.Friction = 0.6f;
shape.Set(new Vector2(-20.0f, 0.0f), new Vector2(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 (var i = 0; i < 10; ++i)
{
var y2 = hs[i];
shape.Set(new Vector2(x, y1), new Vector2(x + dx, y2));
ground.CreateFixture(fd);
y1 = y2;
x += dx;
}
for (var i = 0; i < 10; ++i)
{
var y2 = hs[i];
shape.Set(new Vector2(x, y1), new Vector2(x + dx, y2));
ground.CreateFixture(fd);
y1 = y2;
x += dx;
}
shape.Set(new Vector2(x, 0.0f), new Vector2(x + 40.0f, 0.0f));
ground.CreateFixture(fd);
x += 80.0f;
shape.Set(new Vector2(x, 0.0f), new Vector2(x + 40.0f, 0.0f));
ground.CreateFixture(fd);
x += 40.0f;
shape.Set(new Vector2(x, 0.0f), new Vector2(x + 10.0f, 5.0f));
ground.CreateFixture(fd);
x += 20.0f;
shape.Set(new Vector2(x, 0.0f), new Vector2(x + 40.0f, 0.0f));
ground.CreateFixture(fd);
x += 40.0f;
shape.Set(new Vector2(x, 0.0f), new Vector2(x, 20.0f));
ground.CreateFixture(fd);
}
// Teeter
{
var bd = new BodyDef();
bd.Position.Set(140.0f, 1.0f);
bd.BodyType = BodyType.DynamicBody;
var body = World.CreateBody(bd);
var box = new PolygonShape();
box.SetAsBox(10.0f, 0.25f);
body.CreateFixture(box, 1.0f);
var jd = new RevoluteJointDef();
jd.Initialize(ground, body, body.GetPosition());
jd.LowerAngle = -8.0f * Settings.Pi / 180.0f;
jd.UpperAngle = 8.0f * Settings.Pi / 180.0f;
jd.EnableLimit = true;
World.CreateJoint(jd);
body.ApplyAngularImpulse(100.0f, true);
}
// Bridge
{
var N = 20;
var shape = new PolygonShape();
shape.SetAsBox(1.0f, 0.125f);
var fd = new FixtureDef();
fd.Shape = shape;
fd.Density = 1.0f;
fd.Friction = 0.6f;
var jd = new RevoluteJointDef();
var prevBody = ground;
for (var i = 0; i < N; ++i)
{
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position.Set(161.0f + 2.0f * i, -0.125f);
var body = World.CreateBody(bd);
body.CreateFixture(fd);
var anchor = new Vector2(160.0f + 2.0f * i, -0.125f);
jd.Initialize(prevBody, body, anchor);
World.CreateJoint(jd);
prevBody = body;
}
{
var anchor = new Vector2(160.0f + 2.0f * N, -0.125f);
jd.Initialize(prevBody, ground, anchor);
World.CreateJoint(jd);
}
}
// Boxes
{
var box = new PolygonShape();
box.SetAsBox(0.5f, 0.5f);
Body body = null;
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position.Set(230.0f, 0.5f);
body = World.CreateBody(bd);
body.CreateFixture(box, 0.5f);
bd.Position.Set(230.0f, 1.5f);
body = World.CreateBody(bd);
body.CreateFixture(box, 0.5f);
bd.Position.Set(230.0f, 2.5f);
body = World.CreateBody(bd);
body.CreateFixture(box, 0.5f);
bd.Position.Set(230.0f, 3.5f);
body = World.CreateBody(bd);
body.CreateFixture(box, 0.5f);
bd.Position.Set(230.0f, 4.5f);
body = World.CreateBody(bd);
body.CreateFixture(box, 0.5f);
}
// Car
{
var chassis = new PolygonShape();
var vertices = new Vector2[8];
vertices[0].Set(-1.5f, -0.5f);
vertices[1].Set(1.5f, -0.5f);
vertices[2].Set(1.5f, 0.0f);
vertices[3].Set(0.0f, 0.9f);
vertices[4].Set(-1.15f, 0.9f);
vertices[5].Set(-1.5f, 0.2f);
chassis.Set(vertices);
var circle = new CircleShape();
circle.Radius = 0.4f;
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position.Set(0.0f, 1.0f);
_car = World.CreateBody(bd);
_car.CreateFixture(chassis, 1.0f);
var fd = new FixtureDef();
fd.Shape = circle;
fd.Density = 1.0f;
fd.Friction = 0.9f;
bd.Position.Set(-1.0f, 0.35f);
_wheel1 = World.CreateBody(bd);
_wheel1.CreateFixture(fd);
bd.Position.Set(1.0f, 0.4f);
_wheel2 = World.CreateBody(bd);
_wheel2.CreateFixture(fd);
var jd = new WheelJointDef();
var axis = new Vector2(0.0f, 1.0f);
var mass1 = _wheel1.Mass;
var mass2 = _wheel2.Mass;
var hertz = 4.0f;
var dampingRatio = 0.7f;
var omega = 2.0f * Settings.Pi * hertz;
jd.Initialize(_car, _wheel1, _wheel1.GetPosition(), axis);
jd.MotorSpeed = 0.0f;
jd.MaxMotorTorque = 20.0f;
jd.EnableMotor = true;
jd.Stiffness = mass1 * omega * omega;
jd.Damping = 2.0f * mass1 * dampingRatio * omega;
jd.LowerTranslation = -0.25f;
jd.UpperTranslation = 0.25f;
jd.EnableLimit = true;
_spring1 = (WheelJoint)World.CreateJoint(jd);
jd.Initialize(_car, _wheel2, _wheel2.GetPosition(), axis);
jd.MotorSpeed = 0.0f;
jd.MaxMotorTorque = 10.0f;
jd.EnableMotor = false;
jd.Stiffness = mass2 * omega * omega;
jd.Damping = 2.0f * mass2 * dampingRatio * omega;
jd.LowerTranslation = -0.25f;
jd.UpperTranslation = 0.25f;
jd.EnableLimit = true;
_spring2 = (WheelJoint)World.CreateJoint(jd);
}
}
public MotorsAndLimits()
{
Body ground = null;
{
PolygonDef sd = new PolygonDef();
sd.SetAsBox(50.0f, 10.0f);
BodyDef bd = new BodyDef();
bd.Position.Set(0.0f, -10.0f);
ground = _world.CreateBody(bd);
ground.CreateShape(sd);
}
{
PolygonDef sd = new PolygonDef();
sd.SetAsBox(2.0f, 0.5f);
sd.Density = 5.0f;
sd.Friction = 0.05f;
BodyDef bd = new BodyDef();
RevoluteJointDef rjd = new RevoluteJointDef();
Body body = null;
Body prevBody = ground;
const float y = 8.0f;
bd.Position.Set(3.0f, y);
body = _world.CreateBody(bd);
body.CreateShape(sd);
body.SetMassFromShapes();
rjd.Initialize(prevBody, body, new Vec2(0.0f, y));
rjd.MotorSpeed = 1.0f * Box2DX.Common.Settings.Pi;
rjd.MaxMotorTorque = 10000.0f;
rjd.EnableMotor = true;
_joint1 = (RevoluteJoint)_world.CreateJoint(rjd);
prevBody = body;
bd.Position.Set(9.0f, y);
body = _world.CreateBody(bd);
body.CreateShape(sd);
body.SetMassFromShapes();
rjd.Initialize(prevBody, body, new Vec2(6.0f, y));
rjd.MotorSpeed = 0.5f * Box2DX.Common.Settings.Pi;
rjd.MaxMotorTorque = 2000.0f;
rjd.EnableMotor = true;
rjd.LowerAngle = -0.5f * Box2DX.Common.Settings.Pi;
rjd.UpperAngle = 0.5f * Box2DX.Common.Settings.Pi;
rjd.EnableLimit = true;
_joint2 = (RevoluteJoint)_world.CreateJoint(rjd);
bd.Position.Set(-10.0f, 10.0f);
bd.Angle = 0.5f * Box2DX.Common.Settings.Pi;
body = _world.CreateBody(bd);
body.CreateShape(sd);
body.SetMassFromShapes();
PrismaticJointDef pjd = new PrismaticJointDef();
pjd.Initialize(ground, body, new Vec2(-10.0f, 10.0f), new Vec2(1.0f, 0.0f));
pjd.MotorSpeed = 10.0f;
pjd.MaxMotorForce = 1000.0f;
pjd.EnableMotor = true;
pjd.LowerTranslation = 0.0f;
pjd.UpperTranslation = 20.0f;
pjd.EnableLimit = true;
_joint3 = (PrismaticJoint)_world.CreateJoint(pjd);
}
}
public Bridge()
{
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = _world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vector2(-40.0f, 0.0f), new Vector2(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;
fd.friction = 0.2f;
RevoluteJointDef jd = new RevoluteJointDef();
Body prevBody = ground;
for (int i = 0; i < e_count; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(-14.5f + 1.0f * i, 5.0f);
Body body = _world.CreateBody(bd);
body.CreateFixture(fd);
Vector2 anchor = new Vector2(-15.0f + 1.0f * i, 5.0f);
jd.Initialize(prevBody, body, anchor);
_world.CreateJoint(jd);
if (i == (e_count >> 1))
{
_middle = body;
}
prevBody = body;
}
Vector2 anchor2 = new Vector2(-15.0f + 1.0f * e_count, 5.0f);
jd.Initialize(prevBody, ground, anchor2);
_world.CreateJoint(jd);
}
Vector2[] vertices = new Vector2[3];
for (int i = 0; i < 2; ++i)
{
vertices[0] = new Vector2(-0.5f, 0.0f);
vertices[1] = new Vector2(0.5f, 0.0f);
vertices[2] = new Vector2(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 = new Vector2(-8.0f + 8.0f * i, 12.0f);
Body body = _world.CreateBody(bd);
body.CreateFixture(fd);
}
for (int i = 0; i < 3; ++i)
{
CircleShape shape = new CircleShape();
shape._radius = 0.5f;
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 1.0f;
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(-6.0f + 6.0f * i, 10.0f);
Body body = _world.CreateBody(bd);
body.CreateFixture(fd);
}
}
public RevoluteJointTest()
{
Body ground;
{
var bd = new BodyDef();
ground = World.CreateBody(bd);
var shape = new EdgeShape();
shape.SetTwoSided(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
var fd = new FixtureDef();
fd.Shape = shape;
//fd.filter.categoryBits = 2;
ground.CreateFixture(fd);
}
EnableLimit = true;
EnableMotor = false;
MotorSpeed = 1.0f;
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.25f, 3.0f, new Vector2(0.0f, 3.0f), 0.0f);
BodyDef bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position.Set(-10.0f, 20.0f);
Body body = World.CreateBody(bd);
body.CreateFixture(shape, 5.0f);
RevoluteJointDef jd = new RevoluteJointDef();
jd.Initialize(ground, body, new Vector2(-10.0f, 20.5f));
jd.MotorSpeed = MotorSpeed;
jd.MaxMotorTorque = 10000.0f;
jd.EnableMotor = EnableMotor;
jd.LowerAngle = -0.25f * Settings.Pi;
jd.UpperAngle = 0.5f * Settings.Pi;
jd.EnableLimit = EnableLimit;
Joint1 = (RevoluteJoint)World.CreateJoint(jd);
}
{
CircleShape circle_shape = new CircleShape();
circle_shape.Radius = 2.0f;
BodyDef circle_bd = new BodyDef();
circle_bd.BodyType = BodyType.DynamicBody;
circle_bd.Position.Set(5.0f, 30.0f);
FixtureDef fd = new FixtureDef();
fd.Density = 5.0f;
fd.Filter.MaskBits = 1;
fd.Shape = circle_shape;
_ball = World.CreateBody(circle_bd);
_ball.CreateFixture(fd);
PolygonShape polygon_shape = new PolygonShape();
polygon_shape.SetAsBox(10.0f, 0.5f, new Vector2(-10.0f, 0.0f), 0.0f);
BodyDef polygon_bd = circle_bd;
polygon_bd.Position.Set(20.0f, 10.0f);
polygon_bd.BodyType = BodyType.DynamicBody;
polygon_bd.Bullet = true;
var polygon_body = World.CreateBody(polygon_bd);
polygon_body.CreateFixture(polygon_shape, 2.0f);
RevoluteJointDef jd = new RevoluteJointDef();
jd.Initialize(ground, polygon_body, new Vector2(19.0f, 10.0f));
jd.LowerAngle = -0.25f * Settings.Pi;
jd.UpperAngle = 0.0f * Settings.Pi;
jd.EnableLimit = true;
jd.EnableMotor = true;
jd.MotorSpeed = 0.0f;
jd.MaxMotorTorque = 10000.0f;
Joint2 = (RevoluteJoint)World.CreateJoint(jd);
}
}
public Car()
{
{ // car body
PolygonShape poly1 = new PolygonShape(), poly2 = new PolygonShape();
// bottom half
poly1.Vertices = new Vec2[]
{
new Vec2(2.2f, -0.74f),
new Vec2(2.2f, -0.2f),
new Vec2(1.0f, 0),
new Vec2(-2.2f, 0),
new Vec2(-2.2f, -0.74f)
};
FixtureDef fixture1 = new FixtureDef();
fixture1.Filter.GroupIndex = -1;
fixture1.Shape = poly1;
fixture1.Density = 20.0f;
fixture1.Friction = 0.68f;
// top half
poly2.Vertices = new Vec2[]
{
new Vec2(1.0f, 0),
new Vec2(0.5f, 0.74f),
new Vec2(-1.3f, 0.7f),
new Vec2(-1.7f, 0),
};
FixtureDef fixture2 = new FixtureDef();
fixture2.Filter.GroupIndex = -1;
fixture2.Shape = poly2;
fixture2.Density = 5.0f;
fixture2.Friction = 0.68f;
BodyDef bd = new BodyDef();
bd.BodyType = BodyType.Dynamic;
bd.Position = new Vec2(0, 0);
m_vehicle = m_world.CreateBody(bd);
m_vehicle.CreateFixture(fixture1);
m_vehicle.CreateFixture(fixture2);
}
{ // vehicle wheels
CircleShape circ = new CircleShape();
circ.Radius = 0.58608f;
FixtureDef wheelFix = new FixtureDef();
wheelFix.Shape = circ;
wheelFix.Density = 40.0f;
wheelFix.Friction = 0.8f;
wheelFix.Filter.GroupIndex = -1;
BodyDef bd = new BodyDef();
bd.BodyType = BodyType.Dynamic;
bd.AllowSleep = false;
bd.Position = new Vec2(1.2f, -0.8f);
m_rightWheel = m_world.CreateBody(bd);
m_rightWheel.CreateFixture(wheelFix);
bd.Position = new Vec2(-1.2f, -0.8f);
m_leftWheel = m_world.CreateBody(bd);
m_leftWheel.CreateFixture(wheelFix);
}
{ // join wheels to chassis
RevoluteJointDef jd = new RevoluteJointDef();
jd.Initialize(m_vehicle, m_leftWheel, m_leftWheel.WorldCenter);
jd.CollideConnected = false;
jd.EnableMotor = true;
jd.MaxMotorTorque = 10.0f;
jd.MotorSpeed = 0.0f;
m_leftJoint = (RevoluteJoint)m_world.CreateJoint(jd);
jd.Initialize(m_vehicle, m_rightWheel, m_rightWheel.WorldCenter);
jd.CollideConnected = false;
m_rightJoint = (RevoluteJoint)m_world.CreateJoint(jd);
}
}
public Revolute()
{
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = m_world.CreateBody(bd);
EdgeShape shape = new EdgeShape();
shape.Set(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
FixtureDef fd = new FixtureDef();
fd.shape = shape;
//fd.Filter.CategoryBits = 2;
ground.CreateFixture(fd);
}
{
CircleShape shape = new CircleShape();
shape.m_radius = 0.5f;
shape.Density = 5;
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
RevoluteJointDef rjd = new RevoluteJointDef();
bd.Position.Set(-10.0f, 20.0f);
Body body = m_world.CreateBody(bd);
body.CreateFixture(shape);
float w = 100.0f;
body.SetAngularVelocity(w);
body.SetLinearVelocity(new Vec2(-8.0f * w, 0.0f));
rjd.Initialize(ground, body, new Vec2(-10.0f, 12.0f));
rjd.motorSpeed = 1.0f * (float)Math.PI;
rjd.maxMotorTorque = 10000.0f;
rjd.enableMotor = false;
rjd.lowerAngle = -0.25f * (float)Math.PI;
rjd.upperAngle = 0.5f * (float)Math.PI;
rjd.enableLimit = true;
rjd.collideConnected = true;
m_joint = (RevoluteJoint)m_world.CreateJoint(rjd);
}
{
CircleShape circle_shape = new CircleShape();
circle_shape.m_radius = 3.0f;
BodyDef circle_bd = new BodyDef();
circle_bd.type = BodyType._dynamicBody;
circle_bd.Position.Set(5.0f, 30.0f);
FixtureDef fd = new FixtureDef();
fd.Density = 5.0f;
fd.Filter.MaskBits = 1;
fd.shape = circle_shape;
m_ball = m_world.CreateBody(circle_bd);
m_ball.CreateFixture(fd);
PolygonShape polygon_shape = new PolygonShape();
polygon_shape.SetAsBox(10.0f, 0.2f, new Vec2(-10.0f, 0.0f), 0.0f);
polygon_shape.Density = 2;
BodyDef polygon_bd = new BodyDef();
polygon_bd.Position.Set(20.0f, 10.0f);
polygon_bd.type = BodyType._dynamicBody;
polygon_bd.bullet = true;
Body polygon_body = m_world.CreateBody(polygon_bd);
polygon_body.CreateFixture(polygon_shape);
RevoluteJointDef rjd = new RevoluteJointDef();
rjd.Initialize(ground, polygon_body, new Vec2(20.0f, 10.0f));
rjd.lowerAngle = -0.25f * (float)Math.PI;
rjd.upperAngle = 0.0f * (float)Math.PI;
rjd.enableLimit = true;
m_world.CreateJoint(rjd);
}
// Tests mass computation of a small object far from the origin
{
BodyDef bodyDef = new BodyDef();
bodyDef.type = BodyType._dynamicBody;
Body body = m_world.CreateBody(bodyDef);
PolygonShape polyShape = new PolygonShape();
Vec2[] verts = new Vec2[3];
verts[0].Set(17.63f, 36.31f);
verts[1].Set(17.52f, 36.69f);
verts[2].Set(17.19f, 36.36f);
polyShape.Set(verts, 3);
FixtureDef polyFixtureDef = new FixtureDef();
polyFixtureDef.shape = polyShape;
polyFixtureDef.Density = 1;
body.CreateFixture(polyFixtureDef); //assertion hits inside here
}
}
private void CreateLeg(float s, Vector2 wheelAnchor)
{
Vector2 p1 = new Vector2(5.4f * s, -6.1f);
Vector2 p2 = new Vector2(7.2f * s, -1.2f);
Vector2 p3 = new Vector2(4.3f * s, -1.9f);
Vector2 p4 = new Vector2(3.1f * s, 0.8f);
Vector2 p5 = new Vector2(6.0f * s, 1.5f);
Vector2 p6 = new Vector2(2.5f * s, 3.7f);
FixtureDef fd1 = new FixtureDef(), fd2 = new FixtureDef();
fd1.Filter.Group = -1;
fd2.Filter.Group = -1;
PolygonShape poly1 = new PolygonShape(1.0f), poly2 = new PolygonShape(1.0f);
if (s > 0.0f)
{
Vertices vertices = new Vertices(3);
vertices.Add(p1);
vertices.Add(p2);
vertices.Add(p3);
poly1.Vertices = vertices;
vertices[0] = Vector2.Zero;
vertices[1] = p5 - p4;
vertices[2] = p6 - p4;
poly2.Vertices = vertices;
}
else
{
Vertices vertices = new Vertices(3);
vertices.Add(p1);
vertices.Add(p3);
vertices.Add(p2);
poly1.Vertices = vertices;
vertices[0] = Vector2.Zero;
vertices[1] = p6 - p4;
vertices[2] = p5 - p4;
poly2.Vertices = vertices;
}
fd1.Shape = poly1;
fd2.Shape = poly2;
BodyDef bd1 = new BodyDef(), bd2 = new BodyDef();
bd1.Type = BodyType.Dynamic;
bd2.Type = BodyType.Dynamic;
bd1.Position = _offset;
bd2.Position = p4 + _offset;
bd1.AngularDamping = 10.0f;
bd2.AngularDamping = 10.0f;
Body body1 = BodyFactory.CreateFromDef(World, bd1);
Body body2 = BodyFactory.CreateFromDef(World, bd2);
body1.AddFixture(fd1);
body2.AddFixture(fd2);
{
DistanceJointDef jd = 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.
float dampingRatio = 0.5f;
float frequencyHz = 10.0f;
jd.Initialize(body1, body2, p2 + _offset, p5 + _offset);
JointHelper.LinearStiffness(frequencyHz, dampingRatio, jd.BodyA, jd.BodyB, out float stiffness, out float damping);
jd.Stiffness = stiffness;
jd.Damping = damping;
JointFactory.CreateFromDef(World, jd);
jd.Initialize(body1, body2, p3 + _offset, p4 + _offset);
JointHelper.LinearStiffness(frequencyHz, dampingRatio, jd.BodyA, jd.BodyB, out stiffness, out damping);
jd.Stiffness = stiffness;
jd.Damping = damping;
JointFactory.CreateFromDef(World, jd);
jd.Initialize(body1, _wheel, p3 + _offset, wheelAnchor + _offset);
JointHelper.LinearStiffness(frequencyHz, dampingRatio, jd.BodyA, jd.BodyB, out stiffness, out damping);
jd.Stiffness = stiffness;
jd.Damping = damping;
JointFactory.CreateFromDef(World, jd);
jd.Initialize(body2, _wheel, p6 + _offset, wheelAnchor + _offset);
JointHelper.LinearStiffness(frequencyHz, dampingRatio, jd.BodyA, jd.BodyB, out stiffness, out damping);
jd.Stiffness = stiffness;
jd.Damping = damping;
JointFactory.CreateFromDef(World, jd);
}
{
RevoluteJointDef jd = new RevoluteJointDef();
jd.Initialize(body2, _chassis, p4 + _offset);
JointFactory.CreateFromDef(World, jd);
}
}
protected override void Create()
{
Body ground;
{
var bd = new BodyDef();
ground = World.CreateBody(bd);
var shape = new EdgeShape();
shape.Set(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
{
var prevBody = ground;
// Define crank.
{
var shape = new PolygonShape();
shape.SetAsBox(0.5f, 2.0f);
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position = new Vector2(0.0f, 7.0f);
var body = World.CreateBody(bd);
body.CreateFixture(shape, 2.0f);
var rjd = new RevoluteJointDef();
rjd.Initialize(prevBody, body, new Vector2(0.0f, 5.0f));
rjd.MotorSpeed = 1.0f * Settings.Pi;
rjd.MaxMotorTorque = 10000.0f;
rjd.EnableMotor = true;
_joint1 = (RevoluteJoint)World.CreateJoint(rjd);
prevBody = body;
}
// Define follower.
{
var shape = new PolygonShape();
shape.SetAsBox(0.5f, 4.0f);
var bd = new BodyDef {
BodyType = BodyType.DynamicBody, Position = new Vector2(0.0f, 13.0f)
};
var body = World.CreateBody(bd);
body.CreateFixture(shape, 2.0f);
var rjd = new RevoluteJointDef();
rjd.Initialize(prevBody, body, new Vector2(0.0f, 9.0f));
rjd.EnableMotor = false;
World.CreateJoint(rjd);
prevBody = body;
}
// Define piston
{
var shape = new PolygonShape();
shape.SetAsBox(1.5f, 1.5f);
var bd = new BodyDef
{
BodyType = BodyType.DynamicBody, FixedRotation = true,
Position = new Vector2(0.0f, 17.0f)
};
var body = World.CreateBody(bd);
body.CreateFixture(shape, 2.0f);
var rjd = new RevoluteJointDef();
rjd.Initialize(prevBody, body, new Vector2(0.0f, 17.0f));
World.CreateJoint(rjd);
var pjd = new PrismaticJointDef();
pjd.Initialize(ground, body, new Vector2(0.0f, 17.0f), new Vector2(0.0f, 1.0f));
pjd.MaxMotorForce = 1000.0f;
pjd.EnableMotor = true;
_joint2 = (PrismaticJoint)World.CreateJoint(pjd);
}
// Create a payload
{
var shape = new PolygonShape();
shape.SetAsBox(1.5f, 1.5f);
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position = new Vector2(0.0f, 23.0f);
var body = World.CreateBody(bd);
body.CreateFixture(shape, 2.0f);
}
}
}
private BodyTypesTest()
{
Body ground;
{
BodyDef bd = new BodyDef();
ground = BodyFactory.CreateFromDef(World, bd);
EdgeShape shape = new EdgeShape(new Vector2(-20.0f, 0.0f), new Vector2(20.0f, 0.0f));
FixtureDef fd = new FixtureDef();
fd.Shape = shape;
ground.AddFixture(fd);
}
// Define attachment
{
BodyDef bd = new BodyDef();
bd.Type = BodyType.Dynamic;
bd.Position = new Vector2(0.0f, 3.0f);
_attachment = BodyFactory.CreateFromDef(World, bd);
PolygonShape shape = new PolygonShape(2.0f);
shape.SetAsBox(0.5f, 2.0f);
_attachment.AddFixture(shape);
}
// Define platform
{
BodyDef bd = new BodyDef();
bd.Type = BodyType.Dynamic;
bd.Position = new Vector2(-4.0f, 5.0f);
_platform = BodyFactory.CreateFromDef(World, bd);
PolygonShape shape = new PolygonShape(2.0f);
shape.SetAsBox(0.5f, 4.0f, new Vector2(4.0f, 0.0f), 0.5f * MathConstants.Pi);
FixtureDef fd = new FixtureDef();
fd.Shape = shape;
fd.Friction = 0.6f;
_platform.AddFixture(fd);
RevoluteJointDef rjd = new RevoluteJointDef();
rjd.Initialize(_attachment, _platform, new Vector2(0.0f, 5.0f));
rjd.MaxMotorTorque = 50.0f;
rjd.EnableMotor = true;
JointFactory.CreateFromDef(World, rjd);
PrismaticJointDef pjd = new PrismaticJointDef();
pjd.Initialize(ground, _platform, new Vector2(0.0f, 5.0f), new Vector2(1.0f, 0.0f));
pjd.MaxMotorForce = 1000.0f;
pjd.EnableMotor = true;
pjd.LowerTranslation = -10.0f;
pjd.UpperTranslation = 10.0f;
pjd.EnableLimit = true;
JointFactory.CreateFromDef(World, pjd);
_speed = 3.0f;
}
// Create a payload
{
BodyDef bd = new BodyDef();
bd.Type = BodyType.Dynamic;
bd.Position = new Vector2(0.0f, 8.0f);
Body body = BodyFactory.CreateFromDef(World, bd);
PolygonShape shape = new PolygonShape(2.0f);
shape.SetAsBox(0.75f, 0.75f);
FixtureDef fd = new FixtureDef();
fd.Shape = shape;
fd.Friction = 0.6f;
body.AddFixture(fd);
}
}
protected override void Create()
{
Body ground;
{
var bd = new BodyDef();
ground = World.CreateBody(bd);
var shape = new EdgeShape();
shape.Set(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
var fd = new FixtureDef();
fd.Shape = shape;
//fd.filter.categoryBits = 2;
ground.CreateFixture(fd);
}
{
var shape = new CircleShape();
shape.Radius = 0.5f;
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
var rjd = new RevoluteJointDef();
bd.Position.Set(-10.0f, 20.0f);
var body = World.CreateBody(bd);
body.CreateFixture(shape, 5.0f);
var w = 100.0f;
body.SetAngularVelocity(w);
body.SetLinearVelocity(new Vector2(-8.0f * w, 0.0f));
rjd.Initialize(ground, body, new Vector2(-10.0f, 12.0f));
rjd.MotorSpeed = 1.0f * Settings.Pi;
rjd.MaxMotorTorque = 10000.0f;
rjd.EnableMotor = false;
rjd.LowerAngle = -0.25f * Settings.Pi;
rjd.UpperAngle = 0.5f * Settings.Pi;
rjd.EnableLimit = true;
rjd.CollideConnected = true;
m_joint = (RevoluteJoint)World.CreateJoint(rjd);
}
{
var circle_shape = new CircleShape();
circle_shape.Radius = 3.0f;
var circle_bd = new BodyDef();
circle_bd.BodyType = BodyType.DynamicBody;
circle_bd.Position.Set(5.0f, 30.0f);
var fd = new FixtureDef();
fd.Density = 5.0f;
var filter = fd.Filter;
filter.MaskBits = 1;
fd.Filter = filter;
fd.Shape = circle_shape;
m_ball = World.CreateBody(circle_bd);
m_ball.CreateFixture(fd);
var polygon_shape = new PolygonShape();
polygon_shape.SetAsBox(10.0f, 0.2f, new Vector2(-10.0f, 0.0f), 0.0f);
var polygon_bd = new BodyDef();
polygon_bd.Position.Set(20.0f, 10.0f);
polygon_bd.BodyType = BodyType.DynamicBody;
polygon_bd.Bullet = true;
var polygon_body = World.CreateBody(polygon_bd);
polygon_body.CreateFixture(polygon_shape, 2.0f);
var rjd = new RevoluteJointDef();
rjd.Initialize(ground, polygon_body, new Vector2(20.0f, 10.0f));
rjd.LowerAngle = -0.25f * Settings.Pi;
rjd.UpperAngle = 0.0f * Settings.Pi;
rjd.EnableLimit = true;
World.CreateJoint(rjd);
}
// Tests mass computation of a small object far from the origin
{
var bodyDef = new BodyDef();
bodyDef.BodyType = BodyType.DynamicBody;
var body = World.CreateBody(bodyDef);
var polyShape = new PolygonShape();
var verts = new Vector2[3];
verts[0].Set(17.63f, 36.31f);
verts[1].Set(17.52f, 36.69f);
verts[2].Set(17.19f, 36.36f);
polyShape.Set(verts);
var polyFixtureDef = new FixtureDef();
polyFixtureDef.Shape = polyShape;
polyFixtureDef.Density = 1;
body.CreateFixture(polyFixtureDef); //assertion hits inside here
}
}
private BridgeTest()
{
Body ground;
{
BodyDef bd = new BodyDef();
ground = BodyFactory.CreateFromDef(World, bd);
EdgeShape shape = new EdgeShape(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
ground.AddFixture(shape);
}
{
PolygonShape shape = new PolygonShape(20.0f);
shape.SetAsBox(0.5f, 0.125f);
FixtureDef fd = new FixtureDef();
fd.Shape = shape;
fd.Friction = 0.2f;
RevoluteJointDef jd = new RevoluteJointDef();
Body prevBody = ground;
for (int i = 0; i < _count; ++i)
{
BodyDef bd = new BodyDef();
bd.Type = BodyType.Dynamic;
bd.Position = new Vector2(-14.5f + 1.0f * i, 5.0f);
Body body = BodyFactory.CreateFromDef(World, bd);
body.AddFixture(fd);
Vector2 anchor = new Vector2(-15.0f + 1.0f * i, 5.0f);
jd.Initialize(prevBody, body, anchor);
JointFactory.CreateFromDef(World, jd);
prevBody = body;
}
Vector2 anchor2 = new Vector2(-15.0f + 1.0f * _count, 5.0f);
jd.Initialize(prevBody, ground, anchor2);
JointFactory.CreateFromDef(World, jd);
}
for (int i = 0; i < 2; ++i)
{
Vertices vertices = new Vertices(3);
vertices.Add(new Vector2(-0.5f, 0.0f));
vertices.Add(new Vector2(0.5f, 0.0f));
vertices.Add(new Vector2(0.0f, 1.5f));
PolygonShape shape = new PolygonShape(vertices, 1.0f);
FixtureDef fd = new FixtureDef();
fd.Shape = shape;
BodyDef bd = new BodyDef();
bd.Type = BodyType.Dynamic;
bd.Position = new Vector2(-8.0f + 8.0f * i, 12.0f);
Body body = BodyFactory.CreateFromDef(World, bd);
body.AddFixture(fd);
}
for (int i = 0; i < 3; ++i)
{
CircleShape shape = new CircleShape(0.5f, 1.0f);
FixtureDef fd = new FixtureDef();
fd.Shape = shape;
BodyDef bd = new BodyDef();
bd.Type = BodyType.Dynamic;
bd.Position = new Vector2(-6.0f + 6.0f * i, 10.0f);
Body body = BodyFactory.CreateFromDef(World, bd);
body.AddFixture(fd);
}
}
public TheoJansen()
{
_offset.Set(0.0f, 8.0f);
_motorSpeed = 2.0f;
_motorOn = true;
var pivot = new Vector2(0.0f, 0.8f);
// Ground
{
var bd = new BodyDef();
var ground = World.CreateBody(bd);
var shape = new EdgeShape();
shape.SetTwoSided(new Vector2(-50.0f, 0.0f), new Vector2(50.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
shape.SetTwoSided(new Vector2(-50.0f, 0.0f), new Vector2(-50.0f, 10.0f));
ground.CreateFixture(shape, 0.0f);
shape.SetTwoSided(new Vector2(50.0f, 0.0f), new Vector2(50.0f, 10.0f));
ground.CreateFixture(shape, 0.0f);
}
// Balls
for (var i = 0; i < 40; ++i)
{
var shape = new CircleShape();
shape.Radius = 0.25f;
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position.Set(-40.0f + 2.0f * i, 0.5f);
var body = World.CreateBody(bd);
body.CreateFixture(shape, 1.0f);
}
// Chassis
{
var shape = new PolygonShape();
shape.SetAsBox(2.5f, 1.0f);
var sd = new FixtureDef();
sd.Density = 1.0f;
sd.Shape = shape;
sd.Filter.GroupIndex = -1;
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position = pivot + _offset;
_chassis = World.CreateBody(bd);
_chassis.CreateFixture(sd);
}
{
var shape = new CircleShape();
shape.Radius = 1.6f;
var sd = new FixtureDef();
sd.Density = 1.0f;
sd.Shape = shape;
sd.Filter.GroupIndex = -1;
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position = pivot + _offset;
_wheel = World.CreateBody(bd);
_wheel.CreateFixture(sd);
}
{
var jd = new RevoluteJointDef();
jd.Initialize(_wheel, _chassis, pivot + _offset);
jd.CollideConnected = false;
jd.MotorSpeed = _motorSpeed;
jd.MaxMotorTorque = 400.0f;
jd.EnableMotor = _motorOn;
_motorJoint = (RevoluteJoint)World.CreateJoint(jd);
}
Vector2 wheelAnchor;
wheelAnchor = pivot + new Vector2(0.0f, -0.8f);
CreateLeg(-1.0f, wheelAnchor);
CreateLeg(1.0f, wheelAnchor);
_wheel.SetTransform(_wheel.GetPosition(), 120.0f * (float)Math.PI / 180.0f);
CreateLeg(-1.0f, wheelAnchor);
CreateLeg(1.0f, wheelAnchor);
_wheel.SetTransform(_wheel.GetPosition(), -120.0f * (float)Math.PI / 180.0f);
CreateLeg(-1.0f, wheelAnchor);
CreateLeg(1.0f, wheelAnchor);
}
protected override void Create()
{
Body ground;
{
var bd = new BodyDef {
Position = new Vector2(0.0f, 17.0f)
};
ground = World.CreateBody(bd);
}
{
var prevBody = ground;
// Define crank.
{
var shape = new PolygonShape();
shape.SetAsBox(4.0f, 1.0f);
var bd = new BodyDef {
BodyType = BodyType.DynamicBody, Position = new Vector2(-8.0f, 20.0f)
};
var body = World.CreateBody(bd);
body.CreateFixture(shape, 2.0f);
var rjd = new RevoluteJointDef();
rjd.Initialize(prevBody, body, new Vector2(-12.0f, 20.0f));
World.CreateJoint(rjd);
prevBody = body;
}
// Define connecting rod
{
var shape = new PolygonShape();
shape.SetAsBox(8.0f, 1.0f);
var bd = new BodyDef {
BodyType = BodyType.DynamicBody, Position = new Vector2(4.0f, 20.0f)
};
var body = World.CreateBody(bd);
body.CreateFixture(shape, 2.0f);
var rjd = new RevoluteJointDef();
rjd.Initialize(prevBody, body, new Vector2(-4.0f, 20.0f));
World.CreateJoint(rjd);
prevBody = body;
}
// Define piston
{
var shape = new PolygonShape();
shape.SetAsBox(3.0f, 3.0f);
var bd = new BodyDef
{
BodyType = BodyType.DynamicBody, FixedRotation = true,
Position = new Vector2(12.0f, 20.0f)
};
var body = World.CreateBody(bd);
body.CreateFixture(shape, 2.0f);
var rjd = new RevoluteJointDef();
rjd.Initialize(prevBody, body, new Vector2(12.0f, 20.0f));
World.CreateJoint(rjd);
var pjd = new PrismaticJointDef();
pjd.Initialize(ground, body, new Vector2(12.0f, 17.0f), new Vector2(1.0f, 0.0f));
World.CreateJoint(pjd);
}
}
}
public BodyTypes()
{
Body ground;
{
var bd = new BodyDef();
ground = World.CreateBody(bd);
var shape = new EdgeShape();
shape.SetTwoSided(new Vector2(-20.0f, 0.0f), new Vector2(20.0f, 0.0f));
var fd = new FixtureDef();
fd.Shape = shape;
ground.CreateFixture(fd);
}
// Define attachment
{
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position.Set(0.0f, 3.0f);
_attachment = World.CreateBody(bd);
var shape = new PolygonShape();
shape.SetAsBox(0.5f, 2.0f);
_attachment.CreateFixture(shape, 2.0f);
}
// Define platform
{
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position.Set(-4.0f, 5.0f);
_platform = World.CreateBody(bd);
var shape = new PolygonShape();
shape.SetAsBox(0.5f, 4.0f, new Vector2(4.0f, 0.0f), 0.5f * Settings.Pi);
var fd = new FixtureDef();
fd.Shape = shape;
fd.Friction = 0.6f;
fd.Density = 2.0f;
_platform.CreateFixture(fd);
var rjd = new RevoluteJointDef();
rjd.Initialize(_attachment, _platform, new Vector2(0.0f, 5.0f));
rjd.MaxMotorTorque = 50.0f;
rjd.EnableMotor = true;
World.CreateJoint(rjd);
var pjd = new PrismaticJointDef();
pjd.Initialize(ground, _platform, new Vector2(0.0f, 5.0f), new Vector2(1.0f, 0.0f));
pjd.MaxMotorForce = 1000.0f;
pjd.EnableMotor = true;
pjd.LowerTranslation = -10.0f;
pjd.UpperTranslation = 10.0f;
pjd.EnableLimit = true;
World.CreateJoint(pjd);
_speed = 3.0f;
}
// Create a payload
{
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position.Set(0.0f, 8.0f);
var body = World.CreateBody(bd);
var shape = new PolygonShape();
shape.SetAsBox(0.75f, 0.75f);
var fd = new FixtureDef();
fd.Shape = shape;
fd.Friction = 0.6f;
fd.Density = 2.0f;
body.CreateFixture(fd);
}
}
private RevoluteJointTest()
{
Body ground;
{
BodyDef bd = new BodyDef();
ground = BodyFactory.CreateFromDef(World, bd);
EdgeShape shape = new EdgeShape();
shape.SetTwoSided(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
FixtureDef fd = new FixtureDef();
fd.Shape = shape;
//fd.Filter.Category = 2;
ground.AddFixture(fd);
}
_enableLimit = true;
_enableMotor = false;
_motorSpeed = 1.0f;
{
PolygonShape shape = new PolygonShape(5.0f);
shape.SetAsBox(0.25f, 3.0f, new Vector2(0.0f, 3.0f), 0.0f);
BodyDef bd = new BodyDef();
bd.Type = BodyType.Dynamic;
bd.Position = new Vector2(-10.0f, 20.0f);
Body body = BodyFactory.CreateFromDef(World, bd);
body.AddFixture(shape);
RevoluteJointDef jd = new RevoluteJointDef();
jd.Initialize(ground, body, new Vector2(-10.0f, 20.5f));
jd.MotorSpeed = _motorSpeed;
jd.MaxMotorTorque = 10000.0f;
jd.EnableMotor = _enableMotor;
jd.LowerAngle = -0.25f * MathConstants.Pi;
jd.UpperAngle = 0.5f * MathConstants.Pi;
jd.EnableLimit = _enableLimit;
_joint1 = (RevoluteJoint)JointFactory.CreateFromDef(World, jd);
}
{
CircleShape circle_shape = new CircleShape(5.0f);
circle_shape.Radius = 2.0f;
BodyDef circle_bd = new BodyDef();
circle_bd.Type = BodyType.Dynamic;
circle_bd.Position = new Vector2(5.0f, 30.0f);
FixtureDef fd = new FixtureDef();
fd.Filter.CategoryMask = Category.Cat1;
fd.Shape = circle_shape;
_ball = BodyFactory.CreateFromDef(World, circle_bd);
_ball.AddFixture(fd);
PolygonShape polygon_shape = new PolygonShape(2.0f);
polygon_shape.SetAsBox(10.0f, 0.5f, new Vector2(-10.0f, 0.0f), 0.0f);
BodyDef polygon_bd = new BodyDef();
polygon_bd.Position = new Vector2(20.0f, 10.0f);
polygon_bd.Type = BodyType.Dynamic;
polygon_bd.IsBullet = true;
Body polygon_body = BodyFactory.CreateFromDef(World, polygon_bd);
polygon_body.AddFixture(polygon_shape);
RevoluteJointDef jd = new RevoluteJointDef();
jd.Initialize(ground, polygon_body, new Vector2(19.0f, 10.0f));
jd.LowerAngle = -0.25f * MathConstants.Pi;
jd.UpperAngle = 0.0f * MathConstants.Pi;
jd.EnableLimit = true;
jd.EnableMotor = true;
jd.MotorSpeed = 0.0f;
jd.MaxMotorTorque = 10000.0f;
_joint2 = (RevoluteJoint)JointFactory.CreateFromDef(World, jd);
}
}
public Dominos()
{
Body b1;
{
var shape = new EdgeShape();
shape.Set(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
var bd = new BodyDef();
b1 = World.CreateBody(bd);
b1.CreateFixture(shape, 0.0f);
}
{
var shape = new PolygonShape();
shape.SetAsBox(6.0f, 0.25f);
var bd = new BodyDef();
bd.Position.Set(-1.5f, 10.0f);
var ground = World.CreateBody(bd);
ground.CreateFixture(shape, 0.0f);
}
{
var shape = new PolygonShape();
shape.SetAsBox(0.1f, 1.0f);
var fd = new FixtureDef();
fd.Shape = shape;
fd.Density = 20.0f;
fd.Friction = 0.1f;
for (var i = 0; i < 10; ++i)
{
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position.Set(-6.0f + 1.0f * i, 11.25f);
var body = World.CreateBody(bd);
body.CreateFixture(fd);
}
}
{
var shape = new PolygonShape();
shape.SetAsBox(7.0f, 0.25f, Vector2.Zero, 0.3f);
var bd = new BodyDef();
bd.Position.Set(1.0f, 6.0f);
var ground = World.CreateBody(bd);
ground.CreateFixture(shape, 0.0f);
}
Body b2;
{
var shape = new PolygonShape();
shape.SetAsBox(0.25f, 1.5f);
var bd = new BodyDef();
bd.Position.Set(-7.0f, 4.0f);
b2 = World.CreateBody(bd);
b2.CreateFixture(shape, 0.0f);
}
Body b3;
{
var shape = new PolygonShape();
shape.SetAsBox(6.0f, 0.125f);
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position.Set(-0.9f, 1.0f);
bd.Angle = -0.15f;
b3 = World.CreateBody(bd);
b3.CreateFixture(shape, 10.0f);
}
var jd = new RevoluteJointDef();
var anchor = new Vector2();
anchor.Set(-2.0f, 1.0f);
jd.Initialize(b1, b3, anchor);
jd.CollideConnected = true;
World.CreateJoint(jd);
Body b4;
{
var shape = new PolygonShape();
shape.SetAsBox(0.25f, 0.25f);
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position.Set(-10.0f, 15.0f);
b4 = World.CreateBody(bd);
b4.CreateFixture(shape, 10.0f);
}
anchor.Set(-7.0f, 15.0f);
jd.Initialize(b2, b4, anchor);
World.CreateJoint(jd);
Body b5;
{
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position.Set(6.5f, 3.0f);
b5 = World.CreateBody(bd);
var shape = new PolygonShape();
var fd = new FixtureDef();
fd.Shape = shape;
fd.Density = 10.0f;
fd.Friction = 0.1f;
shape.SetAsBox(1.0f, 0.1f, new Vector2(0.0f, -0.9f), 0.0f);
b5.CreateFixture(fd);
shape.SetAsBox(0.1f, 1.0f, new Vector2(-0.9f, 0.0f), 0.0f);
b5.CreateFixture(fd);
shape.SetAsBox(0.1f, 1.0f, new Vector2(0.9f, 0.0f), 0.0f);
b5.CreateFixture(fd);
}
anchor.Set(6.0f, 2.0f);
jd.Initialize(b1, b5, anchor);
World.CreateJoint(jd);
Body b6;
{
var shape = new PolygonShape();
shape.SetAsBox(1.0f, 0.1f);
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position.Set(6.5f, 4.1f);
b6 = World.CreateBody(bd);
b6.CreateFixture(shape, 30.0f);
}
anchor.Set(7.5f, 4.0f);
jd.Initialize(b5, b6, anchor);
World.CreateJoint(jd);
Body b7;
{
var shape = new PolygonShape();
shape.SetAsBox(0.1f, 1.0f);
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position.Set(7.4f, 1.0f);
b7 = World.CreateBody(bd);
b7.CreateFixture(shape, 10.0f);
}
var djd = new DistanceJointDef();
djd.BodyA = b3;
djd.BodyB = b7;
djd.LocalAnchorA.Set(6.0f, 0.0f);
djd.LocalAnchorB.Set(0.0f, -1.0f);
var d = djd.BodyB.GetWorldPoint(djd.LocalAnchorB) - djd.BodyA.GetWorldPoint(djd.LocalAnchorA);
djd.Length = d.Length();
World.CreateJoint(djd);
{
var radius = 0.2f;
var shape = new CircleShape();
shape.Radius = radius;
for (var i = 0; i < 4; ++i)
{
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position.Set(5.9f + 2.0f * radius * i, 2.4f);
var body = World.CreateBody(bd);
body.CreateFixture(shape, 10.0f);
}
}
}
public Bridge()
{
Body ground;
{
var bd = new BodyDef();
ground = World.CreateBody(bd);
var shape = new EdgeShape();
shape.SetTwoSided(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
{
var shape = new PolygonShape();
shape.SetAsBox(0.5f, 0.125f);
var fd = new FixtureDef();
fd.Shape = shape;
fd.Density = 20.0f;
fd.Friction = 0.2f;
var jd = new RevoluteJointDef();
var prevBody = ground;
for (var i = 0; i < Count; ++i)
{
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position.Set(-14.5f + 1.0f * i, 5.0f);
var body = World.CreateBody(bd);
body.CreateFixture(fd);
var anchor = new Vector2(-15.0f + 1.0f * i, 5.0f);
jd.Initialize(prevBody, body, anchor);
World.CreateJoint(jd);
if (i == Count >> 1)
{
_middle = body;
}
prevBody = body;
}
{
var anchor = new Vector2(-15.0f + 1.0f * Count, 5.0f);
jd.Initialize(prevBody, ground, anchor);
World.CreateJoint(jd);
}
}
for (var i = 0; i < 2; ++i)
{
var vertices = new Vector2[3];
vertices[0].Set(-0.5f, 0.0f);
vertices[1].Set(0.5f, 0.0f);
vertices[2].Set(0.0f, 1.5f);
var shape = new PolygonShape();
shape.Set(vertices);
var fd = new FixtureDef();
fd.Shape = shape;
fd.Density = 1.0f;
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position.Set(-8.0f + 8.0f * i, 12.0f);
var body = World.CreateBody(bd);
body.CreateFixture(fd);
}
for (var i = 0; i < 3; ++i)
{
var shape = new CircleShape();
shape.Radius = 0.5f;
var fd = new FixtureDef();
fd.Shape = shape;
fd.Density = 1.0f;
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position.Set(-6.0f + 6.0f * i, 10.0f);
var body = World.CreateBody(bd);
body.CreateFixture(fd);
}
}
Gears()
{
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = _world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vector2(50.0f, 0.0f), new Vector2(-50.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
{
CircleShape circle1 = new CircleShape();
circle1._radius = 1.0f;
CircleShape circle2 = new CircleShape();
circle2._radius = 2.0f;
PolygonShape box = new PolygonShape();
box.SetAsBox(0.5f, 5.0f);
BodyDef bd1 = new BodyDef();
bd1.type = BodyType.Dynamic;
bd1.position = new Vector2(-3.0f, 12.0f);
Body body1 = _world.CreateBody(bd1);
body1.CreateFixture(circle1, 5.0f);
RevoluteJointDef jd1 = new RevoluteJointDef();
jd1.bodyA = ground;
jd1.bodyB = body1;
jd1.localAnchorA = ground.GetLocalPoint(bd1.position);
jd1.localAnchorB = body1.GetLocalPoint(bd1.position);
jd1.referenceAngle = body1.GetAngle() - ground.GetAngle();
_joint1 = (RevoluteJoint)_world.CreateJoint(jd1);
BodyDef bd2 = new BodyDef();
bd2.type = BodyType.Dynamic;
bd2.position = new Vector2(0.0f, 12.0f);
Body body2 = _world.CreateBody(bd2);
body2.CreateFixture(circle2, 5.0f);
RevoluteJointDef jd2 = new RevoluteJointDef();
jd2.Initialize(ground, body2, bd2.position);
_joint2 = (RevoluteJoint)_world.CreateJoint(jd2);
BodyDef bd3 = new BodyDef();
bd3.type = BodyType.Dynamic;
bd3.position = new Vector2(2.5f, 12.0f);
Body body3 = _world.CreateBody(bd3);
body3.CreateFixture(box, 5.0f);
PrismaticJointDef jd3 = new PrismaticJointDef();
jd3.Initialize(ground, body3, bd3.position, new Vector2(0.0f, 1.0f));
jd3.lowerTranslation = -5.0f;
jd3.upperTranslation = 5.0f;
jd3.enableLimit = true;
_joint3 = (PrismaticJoint)_world.CreateJoint(jd3);
GearJointDef jd4 = new GearJointDef();
jd4.bodyA = body1;
jd4.bodyB = body2;
jd4.joint1 = _joint1;
jd4.joint2 = _joint2;
jd4.ratio = circle2._radius / circle1._radius;
_joint4 = (GearJoint)_world.CreateJoint(jd4);
GearJointDef jd5 = new GearJointDef();
jd5.bodyA = body2;
jd5.bodyB = body3;
jd5.joint1 = _joint2;
jd5.joint2 = _joint3;
jd5.ratio = -1.0f / circle2._radius;
_joint5 = (GearJoint)_world.CreateJoint(jd5);
}
}
/// <summary>
/// Add objects to the Box2d world.
/// </summary>
protected override void PopulateWorld()
{
// ==== Define the ground body ====
BodyDef groundBodyDef = new BodyDef();
groundBodyDef.Position.Set(_trackLengthHalf, -1f);
// Call the body factory which creates the ground box shape.
// The body is also added to the world.
Body groundBody = _world.CreateBody(groundBodyDef);
// Define the ground box shape.
PolygonDef groundShapeDef = new PolygonDef();
// The extents are the half-widths of the box.
groundShapeDef.SetAsBox(_trackLengthHalf + 1f, 1f);
groundShapeDef.Friction = _simParams._defaultFriction;
groundShapeDef.Restitution = _simParams._defaultRestitution;
groundShapeDef.Filter.CategoryBits = 0x3;
// Add the ground shape to the ground body.
groundBody.CreateShape(groundShapeDef);
// Add some small mounds/bumps to the ground.
for (float x = -1f; x < 40f; x += 0.4f + ((_rng.NextFloat() - 0.5f) * 0.15f))
{
WalkerWorldUtils.CreateMound(_world, x, 0f, _simParams._defaultFriction, _simParams._defaultRestitution);
}
// ==== Define walker torso.
float walkerX = 0f;
float walkerY = 1.30f;// + ((float)_rng.NextDouble() * 0.1f);
BodyDef torsoBodyDef = new BodyDef();
torsoBodyDef.Position.Set(walkerX, walkerY);
torsoBodyDef.IsBullet = true;
// Create walker torso.
_torsoBody = _world.CreateBody(torsoBodyDef);
PolygonDef torsoShapeDef = new PolygonDef();
torsoShapeDef.SetAsBox(0.10f, 0.30f);
torsoShapeDef.Friction = _simParams._defaultFriction;
torsoShapeDef.Restitution = 0f;
torsoShapeDef.Density = 2f;
torsoShapeDef.Filter.CategoryBits = 0x2;
_torsoBody.CreateShape(torsoShapeDef);
_torsoBody.SetMassFromShapes();
// ===== Create legs.
// Leg joint definition.
RevoluteJointDef jointDef = new RevoluteJointDef();
jointDef.CollideConnected = false;
jointDef.EnableMotor = true;
jointDef.MaxMotorTorque = 0f;
// Other re-usable stuff .
const float legRadius = 0.05f; // Half the thickness of the leg
Vec2 upperLegPosBase = new Vec2(walkerX, walkerY - 0.25f);
Vec2 lowerLegPosBase = new Vec2(walkerX, walkerY - 0.75f);
// ===== Create left leg.
// Upper leg.
Body upperLeftLegBody = CreatePole(upperLegPosBase, 0.5f, (float)SysMath.PI, legRadius, 2f, 0x1);
// Join to torso (hip joint)
jointDef.Initialize(_torsoBody, upperLeftLegBody, upperLegPosBase);
_leftHipJoint = (RevoluteJoint)_world.CreateJoint(jointDef);
// Lower leg.
_leftLowerLegBody = CreatePole(lowerLegPosBase, __lowerLegLength, (float)SysMath.PI, legRadius, 2f, 0x1);
// Join to upper leg (knee joint)
jointDef.Initialize(upperLeftLegBody, _leftLowerLegBody, lowerLegPosBase);
_leftKneeJoint = (RevoluteJoint)_world.CreateJoint(jointDef);
// ===== Create right leg.
// Upper leg.
Body upperRightLegBody = CreatePole(upperLegPosBase, 0.5f, (float)SysMath.PI, legRadius, 2f, 0x1);
// Join to torso (hip joint)
jointDef.Initialize(_torsoBody, upperRightLegBody, upperLegPosBase);
_rightHipJoint = (RevoluteJoint)_world.CreateJoint(jointDef);
// Lower leg.
_rightLowerLegBody = CreatePole(lowerLegPosBase, __lowerLegLength, (float)SysMath.PI, legRadius, 2f, 0x1);
// Join to upper leg (knee joint)
jointDef.Initialize(upperRightLegBody, _rightLowerLegBody, lowerLegPosBase);
_rightKneeJoint = (RevoluteJoint)_world.CreateJoint(jointDef);
}
public SliderCrank()
{
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = _world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
{
Body prevBody = ground;
// Define crank.
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.5f, 2.0f);
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(0.0f, 7.0f);
Body body = _world.CreateBody(bd);
body.CreateFixture(shape, 2.0f);
RevoluteJointDef rjd = new RevoluteJointDef();
rjd.Initialize(prevBody, body, new Vector2(0.0f, 5.0f));
rjd.motorSpeed = 1.0f * (float)Settings.b2_pi;
rjd.maxMotorTorque = 10000.0f;
rjd.enableMotor = true;
_joint1 = (RevoluteJoint)_world.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 = new Vector2(0.0f, 13.0f);
Body body = _world.CreateBody(bd);
body.CreateFixture(shape, 2.0f);
RevoluteJointDef rjd3 = new RevoluteJointDef();
rjd3.Initialize(prevBody, body, new Vector2(0.0f, 9.0f));
rjd3.enableMotor = false;
_world.CreateJoint(rjd3);
prevBody = body;
}
// Define piston
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(1.5f, 1.5f);
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(0.0f, 17.0f);
Body body = _world.CreateBody(bd);
body.CreateFixture(shape, 2.0f);
RevoluteJointDef rjd2 = new RevoluteJointDef();
rjd2.Initialize(prevBody, body, new Vector2(0.0f, 17.0f));
_world.CreateJoint(rjd2);
PrismaticJointDef pjd = new PrismaticJointDef();
pjd.Initialize(ground, body, new Vector2(0.0f, 17.0f), new Vector2(0.0f, 1.0f));
pjd.maxMotorForce = 1000.0f;
pjd.enableMotor = true;
_joint2 = (PrismaticJoint)_world.CreateJoint(pjd);
}
// Create a payload
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(1.5f, 1.5f);
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(0.0f, 23.0f);
Body body = _world.CreateBody(bd);
body.CreateFixture(shape, 2.0f);
}
}
}
public Gears()
{
Body ground = null;
{
BodyDef bd = new BodyDef();
bd.Position.Set(0.0f, -10.0f);
ground = _world.CreateBody(bd);
PolygonDef sd = new PolygonDef();
sd.SetAsBox(50.0f, 10.0f);
ground.CreateFixture(sd);
}
{
CircleDef circle1 = new CircleDef();
circle1.Radius = 1.0f;
circle1.Density = 5.0f;
CircleDef circle2 = new CircleDef();
circle2.Radius = 2.0f;
circle2.Density = 5.0f;
PolygonDef box = new PolygonDef();
box.SetAsBox(0.5f, 5.0f);
box.Density = 5.0f;
BodyDef bd1 = new BodyDef();
bd1.Position.Set(-3.0f, 12.0f);
Body body1 = _world.CreateBody(bd1);
body1.CreateFixture(circle1);
body1.SetMassFromShapes();
RevoluteJointDef jd1 = new RevoluteJointDef();
jd1.Body1 = ground;
jd1.Body2 = body1;
jd1.LocalAnchor1 = ground.GetLocalPoint(bd1.Position);
jd1.LocalAnchor2 = body1.GetLocalPoint(bd1.Position);
jd1.ReferenceAngle = body1.GetAngle() - ground.GetAngle();
_joint1 = (RevoluteJoint)_world.CreateJoint(jd1);
BodyDef bd2 = new BodyDef();
bd2.Position.Set(0.0f, 12.0f);
Body body2 = _world.CreateBody(bd2);
body2.CreateFixture(circle2);
body2.SetMassFromShapes();
RevoluteJointDef jd2 = new RevoluteJointDef();
jd2.Initialize(ground, body2, bd2.Position);
_joint2 = (RevoluteJoint)_world.CreateJoint(jd2);
BodyDef bd3 = new BodyDef();
bd3.Position.Set(2.5f, 12.0f);
Body body3 = _world.CreateBody(bd3);
body3.CreateFixture(box);
body3.SetMassFromShapes();
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;
_joint3 = (PrismaticJoint)_world.CreateJoint(jd3);
GearJointDef jd4 = new GearJointDef();
jd4.Body1 = body1;
jd4.Body2 = body2;
jd4.Joint1 = _joint1;
jd4.Joint2 = _joint2;
jd4.Ratio = circle2.Radius / circle1.Radius;
_joint4 = (GearJoint)_world.CreateJoint(jd4);
GearJointDef jd5 = new GearJointDef();
jd5.Body1 = body2;
jd5.Body2 = body3;
jd5.Joint1 = _joint2;
jd5.Joint2 = _joint3;
jd5.Ratio = -1.0f / circle2.Radius;
_joint5 = (GearJoint)_world.CreateJoint(jd5);
}
}
public Dominos()
{
Body b1 = null;
{
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
BodyDef bd = new BodyDef();
b1 = _world.CreateBody(bd);
b1.CreateFixture(shape, 0.0f);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(6.0f, 0.25f);
BodyDef bd = new BodyDef();
bd.position = new Vector2(-1.5f, 10.0f);
Body ground = _world.CreateBody(bd);
ground.CreateFixture(shape, 0.0f);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.1f, 1.0f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 20.0f;
fd.friction = 0.1f;
for (int i = 0; i < 10; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(-6.0f + 1.0f * i, 11.25f);
Body body = _world.CreateBody(bd);
body.CreateFixture(fd);
}
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(7.0f, 0.25f, Vector2.Zero, 0.3f);
BodyDef bd = new BodyDef();
bd.position = new Vector2(1.0f, 6.0f);
Body ground = _world.CreateBody(bd);
ground.CreateFixture(shape, 0.0f);
}
Body b2 = null;
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.25f, 1.5f);
BodyDef bd = new BodyDef();
bd.position = new Vector2(-7.0f, 4.0f);
b2 = _world.CreateBody(bd);
b2.CreateFixture(shape, 0.0f);
}
Body b3 = null;
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(6.0f, 0.125f);
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(-0.9f, 1.0f);
bd.angle = -0.15f;
b3 = _world.CreateBody(bd);
b3.CreateFixture(shape, 10.0f);
}
RevoluteJointDef jd = new RevoluteJointDef();
Vector2 anchor;
anchor = new Vector2(-2.0f, 1.0f);
jd.Initialize(b1, b3, anchor);
jd.collideConnected = true;
_world.CreateJoint(jd);
Body b4 = null;
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.25f, 0.25f);
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(-10.0f, 15.0f);
b4 = _world.CreateBody(bd);
b4.CreateFixture(shape, 10.0f);
}
anchor = new Vector2(-7.0f, 15.0f);
jd.Initialize(b2, b4, anchor);
_world.CreateJoint(jd);
Body b5 = null;
{
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(6.5f, 3.0f);
b5 = _world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 10.0f;
fd.friction = 0.1f;
shape.SetAsBox(1.0f, 0.1f, new Vector2(0.0f, -0.9f), 0.0f);
b5.CreateFixture(fd);
shape.SetAsBox(0.1f, 1.0f, new Vector2(-0.9f, 0.0f), 0.0f);
b5.CreateFixture(fd);
shape.SetAsBox(0.1f, 1.0f, new Vector2(0.9f, 0.0f), 0.0f);
b5.CreateFixture(fd);
}
anchor = new Vector2(6.0f, 2.0f);
jd.Initialize(b1, b5, anchor);
_world.CreateJoint(jd);
Body b6 = null;
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(1.0f, 0.1f);
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(6.5f, 4.1f);
b6 = _world.CreateBody(bd);
b6.CreateFixture(shape, 30.0f);
}
anchor = new Vector2(7.5f, 4.0f);
jd.Initialize(b5, b6, anchor);
_world.CreateJoint(jd);
Body b7 = null;
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.1f, 1.0f);
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(7.4f, 1.0f);
b7 = _world.CreateBody(bd);
b7.CreateFixture(shape, 10.0f);
}
DistanceJointDef djd = new DistanceJointDef();
djd.bodyA = b3;
djd.bodyB = b7;
djd.localAnchorA = new Vector2(6.0f, 0.0f);
djd.localAnchorB = new Vector2(0.0f, -1.0f);
Vector2 d = djd.bodyB.GetWorldPoint(djd.localAnchorB) - djd.bodyA.GetWorldPoint(djd.localAnchorA);
djd.length = d.Length();
_world.CreateJoint(djd);
{
float radius = 0.2f;
CircleShape shape = new CircleShape();
shape._radius = radius;
for (int i = 0; i < 4; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(5.9f + 2.0f * radius * i, 2.4f);
Body body = _world.CreateBody(bd);
body.CreateFixture(shape, 10.0f);
}
}
}
public BodyTypes()
{
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = _world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vector2(-20.0f, 0.0f), new Vector2(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 = new Vector2(0.0f, 3.0f);
_attachment = _world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.5f, 2.0f);
_attachment.CreateFixture(shape, 2.0f);
}
// Define platform
{
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(-4.0f, 5.0f);
_platform = _world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.5f, 4.0f, new Vector2(4.0f, 0.0f), 0.5f * (float)Math.PI);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.friction = 0.6f;
fd.density = 2.0f;
_platform.CreateFixture(fd);
RevoluteJointDef rjd = new RevoluteJointDef();
rjd.Initialize(_attachment, _platform, new Vector2(0.0f, 5.0f));
rjd.maxMotorTorque = 50.0f;
rjd.enableMotor = true;
_world.CreateJoint(rjd);
PrismaticJointDef pjd = new PrismaticJointDef();
pjd.Initialize(ground, _platform, new Vector2(0.0f, 5.0f), new Vector2(1.0f, 0.0f));
pjd.maxMotorForce = 1000.0f;
pjd.enableMotor = true;
pjd.lowerTranslation = -10.0f;
pjd.upperTranslation = 10.0f;
pjd.enableLimit = true;
_world.CreateJoint(pjd);
_speed = 3.0f;
}
// Create a payload
{
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(0.0f, 8.0f);
Body body = _world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.75f, 0.75f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.friction = 0.6f;
fd.density = 2.0f;
body.CreateFixture(fd);
}
}
TheoJansen()
{
_offset = new Vector2(0.0f, 8.0f);
_motorSpeed = 2.0f;
_motorOn = true;
Vector2 pivot = new Vector2(0.0f, 0.8f);
// Ground
{
BodyDef bd = new BodyDef();
Body ground = _world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vector2(-50.0f, 0.0f), new Vector2(50.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
shape.SetAsEdge(new Vector2(-50.0f, 0.0f), new Vector2(-50.0f, 10.0f));
ground.CreateFixture(shape, 0.0f);
shape.SetAsEdge(new Vector2(50.0f, 0.0f), new Vector2(50.0f, 10.0f));
ground.CreateFixture(shape, 0.0f);
}
// Balls
for (int i = 0; i < 40; ++i)
{
CircleShape shape = new CircleShape();
shape._radius = 0.25f;
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(-40.0f + 2.0f * i, 0.5f);
Body body = _world.CreateBody(bd);
body.CreateFixture(shape, 1.0f);
}
// Chassis
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(2.5f, 1.0f);
FixtureDef sd = new FixtureDef();
sd.density = 1.0f;
sd.shape = shape;
sd.filter.groupIndex = -1;
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = pivot + _offset;
_chassis = _world.CreateBody(bd);
_chassis.CreateFixture(sd);
}
{
CircleShape shape = new CircleShape();
shape._radius = 1.6f;
FixtureDef sd = new FixtureDef();
sd.density = 1.0f;
sd.shape = shape;
sd.filter.groupIndex = -1;
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = pivot + _offset;
_wheel = _world.CreateBody(bd);
_wheel.CreateFixture(sd);
}
{
RevoluteJointDef jd = new RevoluteJointDef();
jd.Initialize(_wheel, _chassis, pivot + _offset);
jd.collideConnected = false;
jd.motorSpeed = _motorSpeed;
jd.maxMotorTorque = 400.0f;
jd.enableMotor = _motorOn;
_motorJoint = (RevoluteJoint)_world.CreateJoint(jd);
}
Vector2 wheelAnchor;
wheelAnchor = pivot + new Vector2(0.0f, -0.8f);
CreateLeg(-1.0f, wheelAnchor);
CreateLeg(1.0f, wheelAnchor);
_wheel.SetTransform(_wheel.GetPosition(), 120.0f * (float)Settings.b2_pi / 180.0f);
CreateLeg(-1.0f, wheelAnchor);
CreateLeg(1.0f, wheelAnchor);
_wheel.SetTransform(_wheel.GetPosition(), -120.0f * (float)Settings.b2_pi / 180.0f);
CreateLeg(-1.0f, wheelAnchor);
CreateLeg(1.0f, wheelAnchor);
}
public Gears()
{
Body ground;
{
var bd = new BodyDef();
ground = World.CreateBody(bd);
var shape = new EdgeShape();
shape.SetTwoSided(new Vector2(50.0f, 0.0f), new Vector2(-50.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
{
var circle1 = new CircleShape();
circle1.Radius = 1.0f;
var box = new PolygonShape();
box.SetAsBox(0.5f, 5.0f);
var circle2 = new CircleShape();
circle2.Radius = 2.0f;
var bd1 = new BodyDef();
bd1.BodyType = BodyType.StaticBody;
bd1.Position.Set(10.0f, 9.0f);
var body1 = World.CreateBody(bd1);
body1.CreateFixture(circle1, 5.0f);
var bd2 = new BodyDef();
bd2.BodyType = BodyType.DynamicBody;
bd2.Position.Set(10.0f, 8.0f);
var body2 = World.CreateBody(bd2);
body2.CreateFixture(box, 5.0f);
var bd3 = new BodyDef();
bd3.BodyType = BodyType.DynamicBody;
bd3.Position.Set(10.0f, 6.0f);
var body3 = World.CreateBody(bd3);
body3.CreateFixture(circle2, 5.0f);
var jd1 = new RevoluteJointDef();
jd1.Initialize(body2, body1, bd1.Position);
var joint1 = World.CreateJoint(jd1);
var jd2 = new RevoluteJointDef();
jd2.Initialize(body2, body3, bd3.Position);
var joint2 = World.CreateJoint(jd2);
var jd4 = new GearJointDef();
jd4.BodyA = body1;
jd4.BodyB = body3;
jd4.Joint1 = joint1;
jd4.Joint2 = joint2;
jd4.Ratio = circle2.Radius / circle1.Radius;
World.CreateJoint(jd4);
}
{
var circle1 = new CircleShape();
circle1.Radius = 1.0f;
var circle2 = new CircleShape();
circle2.Radius = 2.0f;
var box = new PolygonShape();
box.SetAsBox(0.5f, 5.0f);
var bd1 = new BodyDef();
bd1.BodyType = BodyType.DynamicBody;
bd1.Position.Set(-3.0f, 12.0f);
var body1 = World.CreateBody(bd1);
body1.CreateFixture(circle1, 5.0f);
var jd1 = new RevoluteJointDef();
jd1.BodyA = ground;
jd1.BodyB = body1;
jd1.LocalAnchorA = ground.GetLocalPoint(bd1.Position);
jd1.LocalAnchorB = body1.GetLocalPoint(bd1.Position);
jd1.ReferenceAngle = body1.GetAngle() - ground.GetAngle();
_joint1 = (RevoluteJoint)World.CreateJoint(jd1);
var bd2 = new BodyDef();
bd2.BodyType = BodyType.DynamicBody;
bd2.Position.Set(0.0f, 12.0f);
var body2 = World.CreateBody(bd2);
body2.CreateFixture(circle2, 5.0f);
var jd2 = new RevoluteJointDef();
jd2.Initialize(ground, body2, bd2.Position);
_joint2 = (RevoluteJoint)World.CreateJoint(jd2);
var bd3 = new BodyDef();
bd3.BodyType = BodyType.DynamicBody;
bd3.Position.Set(2.5f, 12.0f);
var body3 = World.CreateBody(bd3);
body3.CreateFixture(box, 5.0f);
var jd3 = new PrismaticJointDef();
jd3.Initialize(ground, body3, bd3.Position, new Vector2(0.0f, 1.0f));
jd3.LowerTranslation = -5.0f;
jd3.UpperTranslation = 5.0f;
jd3.EnableLimit = true;
_joint3 = (PrismaticJoint)World.CreateJoint(jd3);
var jd4 = new GearJointDef();
jd4.BodyA = body1;
jd4.BodyB = body2;
jd4.Joint1 = _joint1;
jd4.Joint2 = _joint2;
jd4.Ratio = circle2.Radius / circle1.Radius;
_joint4 = (GearJoint)World.CreateJoint(jd4);
var jd5 = new GearJointDef();
jd5.BodyA = body2;
jd5.BodyB = body3;
jd5.Joint1 = _joint2;
jd5.Joint2 = _joint3;
jd5.Ratio = -1.0f / circle2.Radius;
_joint5 = (GearJoint)World.CreateJoint(jd5);
}
}