public VaryingRestitution()
{
{
BodyDef bd = new BodyDef();
Body ground = m_world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
{
CircleShape shape = new CircleShape();
shape.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.BodyType = BodyType.Dynamic;
bd.Position = new Vec2(-10.0f + 3.0f * i, 20.0f);
Body body = m_world.CreateBody(bd);
fd.Restitution = restitution[i];
fd.UserData = i;
body.CreateFixture(fd);
}
}
}
public LineJoint()
{
Body ground = null;
{
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
BodyDef bd = new BodyDef();
ground = m_world.CreateBody(bd);
ground.CreateFixture(shape, 0.0f);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.5f, 2.0f);
BodyDef bd = new BodyDef();
bd.BodyType = BodyType.Dynamic;
bd.Position = new Vec2(0.0f, 7.0f);
Body body = m_world.CreateBody(bd);
body.CreateFixture(shape, 1.0f);
LineJointDef jd = new LineJointDef();
Vec2 axis = new Vec2(2.0f, 1.0f);
axis.Normalize();
jd.Initialize(ground, body, new Vec2(0.0f, 8.5f), axis);
jd.MotorSpeed = 0.0f;
jd.MaxMotorForce = 100.0f;
jd.EnableMotor = true;
jd.LowerTranslation = -4.0f;
jd.UpperTranslation = 4.0f;
jd.EnableLimit = true;
m_world.CreateJoint(jd);
}
}
public SphereStack()
{
{
BodyDef bd = new BodyDef();
Body ground = m_world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
{
CircleShape shape = new CircleShape();
for (int i = 0; i < e_count; ++i)
{
shape.Radius = Rand.RandomFloat(0.5f, 0.5f);
BodyDef bd = new BodyDef();
bd.BodyType = BodyType.Dynamic;
bd.Position = new Vec2(0.0f, 4.0f + 3.0f * i);
m_bodies[i] = m_world.CreateBody(bd);
m_bodies[i].CreateFixture(shape, 1.0f);
}
}
}
public Confined()
{
{
BodyDef bd = new BodyDef();
Body ground = m_world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
// Floor
shape.SetAsEdge(new Vec2(-10.0f, 0.0f), new Vec2(10.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
// Left wall
shape.SetAsEdge(new Vec2(-10.0f, 0.0f), new Vec2(-10.0f, 20.0f));
ground.CreateFixture(shape, 0.0f);
// Right wall
shape.SetAsEdge(new Vec2(10.0f, 0.0f), new Vec2(10.0f, 20.0f));
ground.CreateFixture(shape, 0.0f);
// Roof
shape.SetAsEdge(new Vec2(-10.0f, 20.0f), new Vec2(10.0f, 20.0f));
ground.CreateFixture(shape, 0.0f);
}
m_world.Gravity = new Vec2(0.0f, 0.0f);
}
public MovingJoint()
{
var capeFixture = new FixtureDef(new PolygonShape(0.08f, 0.4f, (float)(Math.PI)), 0.2f);
var capeBody = new BodyDef(BodyType.Dynamic, new Vec2(0, 10));
Body testbody = m_world.CreateBody(capeBody);
testbody.CreateFixture(capeFixture);
staticBody = m_world.CreateBody(new BodyDef(BodyType.Static, testbody.WorldCenter + new Vec2(-0.08f / 25, 0.4f)));
staticBody.CreateFixture(new CircleShape(0.15f), 0);
{
RevoluteJointDef rjd = new RevoluteJointDef();
rjd.Initialize(testbody, staticBody, testbody.WorldCenter + new Vec2(0.0f, 0.4f));
joint = (RevoluteJoint)m_world.CreateJoint(rjd);
}
// build cape
Body lastBody = testbody;
for (int i = 0; i < 8; ++i)
{
capeBody.Position = new Vec2(capeBody.Position.X, capeBody.Position.Y - 0.8f);
var nextBody = m_world.CreateBody(capeBody);
nextBody.CreateFixture(capeFixture);
var joint = new RevoluteJointDef();
joint.Initialize(lastBody, nextBody, nextBody.WorldCenter + new Vec2(0.0f, 0.4f));
m_world.CreateJoint(joint);
lastBody = nextBody;
}
}
public Revolute()
{
System.Collections.Generic.List<JointDef> joints = new System.Collections.Generic.List<JointDef>();
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = m_world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
{
CircleShape shape = new CircleShape();
shape.Radius = 0.5f;
BodyDef bd = new BodyDef();
bd.BodyType = BodyType.Dynamic;
RevoluteJointDef rjd = new RevoluteJointDef();
bd.Position = new Vec2(0.0f, 20.0f);
Body body = m_world.CreateBody(bd);
body.CreateFixture(shape, 5.0f);
float w = 100.0f;
body.AngularVelocity = w;
body.LinearVelocity = new Vec2(-8.0f * w, 0.0f);
rjd.Initialize(ground, body, new Vec2(0.0f, 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);
joints.Add(rjd);
}
using (System.IO.FileStream fs = new System.IO.FileStream("out.xml", System.IO.FileMode.Create))
{
var serializer = Box2CS.Serialize.WorldSerializer.SerializeWorld(m_world, new Box2CS.Serialize.WorldXmlSerializer());
foreach (var j in joints)
serializer.AddJoint(j);
serializer.Serialize(fs);
}
}
/// Main...
public ElasticBody()
{
Program.MainForm.ViewZoom = 0.25f;
/// Bottom static body
{
PolygonShape sd = new PolygonShape();
sd.SetAsBox(50.0f, 2.0f);
BodyDef bd = new BodyDef();
bd.Position = new Vec2(-1.0f, -7.5f);
m_ground = m_world.CreateBody(bd);
m_ground.CreateFixture(new FixtureDef(sd, 0.0f, 0.1f, 0.1f));
}
/// "Elastic body" 64 bodies - something like a lin. elastic compound
/// connected via dynamic forces (springs)
{
PolygonShape sd = new PolygonShape();
sd.SetAsBox(width, height);
FixtureDef sdf = new FixtureDef();
sdf.Density = 1.5f;
sdf.Friction = 0.01f;
sdf.Filter.GroupIndex = -1;
sdf.Shape = sd;
Vec2 startpoint = new Vec2(0, 0);
BodyDef bd = new BodyDef();
bd.BodyType = BodyType.Dynamic;
bd.Bullet = false;
//bd.AllowSleep = false;
for (int i = 0; i < BodyCountY; ++i)
{
for (int j = 0; j < BodyCountX; ++j)
{
bd.Position = new Vec2(j*(width*2), 2.51f + (height*2) * i);
bd.Position += startpoint;
Body body = m_world.CreateBody(bd);
bodies[BodyCountX*i+j] = body;
body.CreateFixture(sdf);
}
}
}
}
public Prismatic()
{
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = m_world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(2.0f, 0.5f);
BodyDef bd = new BodyDef();
bd.BodyType = BodyType.Dynamic;
bd.Position = new Vec2(-10.0f, 10.0f);
bd.Angle = 0.5f * (float)Math.PI;
bd.AllowSleep = false;
Body body = m_world.CreateBody(bd);
body.CreateFixture(shape, 5.0f);
PrismaticJointDef pjd = new PrismaticJointDef();
// Bouncy limit
Vec2 axis = new Vec2(2.0f, 1.0f);
axis.Normalize();
pjd.Initialize(ground, body, new Vec2(0.0f, 0.0f), axis);
// Non-bouncy limit
//pjd.Initialize(ground, body, new Vec2(-10.0f, 10.0f), new Vec2(1.0f, 0.0f));
pjd.MotorSpeed = 10.0f;
pjd.MaxMotorForce = 10000.0f;
pjd.EnableMotor = true;
pjd.LowerTranslation = 0.0f;
pjd.UpperTranslation = 20.0f;
pjd.EnableLimit = false;
m_joint = (PrismaticJoint)m_world.CreateJoint(pjd);
}
}
public SensorTest()
{
{
BodyDef bd = new BodyDef();
Body ground = m_world.CreateBody(bd);
{
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
{
CircleShape shape = new CircleShape();
shape.Radius = 5.0f;
shape.Position = new Vec2(0.0f, 10.0f);
FixtureDef fd = new FixtureDef();
fd.Shape = shape;
fd.IsSensor = true;
m_sensor = ground.CreateFixture(fd);
}
}
{
CircleShape shape = new CircleShape();
for (int i = 0; i < e_count; ++i)
{
shape.Radius = Rand.RandomFloat(0.85f, 1.0f);
BodyDef bd = new BodyDef();
bd.BodyType = BodyType.Dynamic;
bd.Position = new Vec2(-10.0f + 3.0f * i, 20.0f);
bd.UserData = i;
m_touching[i] = false;
m_bodies[i] = m_world.CreateBody(bd);
m_bodies[i].CreateFixture(shape, 1.0f);
}
}
}
public Body[] GenerateBodies(World world, Vec2 basePosition, FixtureDef def)
{
if (_vecs.Count <= 1)
throw new ArgumentOutOfRangeException("Vecs");
Body[] bodies = new Body[_vecs.Count - 1];
for (int i = 0; i < _vecs.Count - 1; ++i)
{
PolygonShape edge = new PolygonShape(_vecs[i], _vecs[i + 1]);
BodyDef bd = new BodyDef();
bd.Position = basePosition;
bodies[i] = world.CreateBody(bd);
bodies[i].CreateFixture(new FixtureDef(edge, 0, def.Restitution, def.Friction, false, def.UserData));
}
return bodies;
}
void CreateCircle()
{
float radius = 2.0f;
CircleShape shape = new CircleShape();
shape.Position = Vec2.Empty;
shape.Radius = radius;
FixtureDef fd = new FixtureDef();
fd.Shape = shape;
fd.Density = 1.0f;
fd.Friction = 0.0f;
Vec2 p = new Vec2(Rand.RandomFloat(), 3.0f + Rand.RandomFloat());
BodyDef bd = new BodyDef();
bd.BodyType = BodyType.Dynamic;
bd.Position = p;
//bd.allowSleep = false;
Body body = m_world.CreateBody(bd);
body.CreateFixture(fd);
}
public OneSidedPlatform()
{
// Ground
{
BodyDef bd = new BodyDef();
Body ground = m_world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vec2(-20.0f, 0.0f), new Vec2(20.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
// Platform
{
BodyDef bd = new BodyDef();
bd.Position = new Vec2(0.0f, 10.0f);
Body body = m_world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsBox(3.0f, 0.5f);
m_platform = body.CreateFixture(shape, 0.0f);
m_top = 10.0f + 0.5f;
}
// Actor
{
BodyDef bd = new BodyDef();
bd.BodyType = BodyType.Dynamic;
bd.Position = new Vec2(0.0f, 12.0f);
Body body = m_world.CreateBody(bd);
m_radius = 0.5f;
CircleShape shape = new CircleShape();
shape.Radius = m_radius;
m_character = body.CreateFixture(shape, 20.0f);
body.LinearVelocity = new Vec2(0.0f, -50.0f);
}
}
public ShapeEditing()
{
{
BodyDef bd = new BodyDef();
Body ground = m_world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
{
BodyDef bd = new BodyDef();
bd.BodyType = BodyType.Dynamic;
bd.Position = new Vec2(0.0f, 10.0f);
m_body = m_world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsBox(4.0f, 4.0f, new Vec2(0.0f, 0.0f), 0.0f);
m_fixture1 = m_body.CreateFixture(shape, 10.0f);
m_fixture2 = null;
}
}
public TitleState(StateStack stack, Context context)
: base(stack, context)
{
starttimer = new Clock();
starttimer.Restart();
titletext = new Text();
titletext.Scale = new Vector2f(2, 2);
titletext.DisplayedString = "PIXELTASIM";
titletext.Font = mContext.mFonts.get(FontID.Title);
titletext.centerOrigin();
titletext.Position = new Vector2f(mContext.mWindow.Size.X/2, mContext.mWindow.Size.Y / 8);
titletext.Color = Color.Black;
square = new RectangleShape(new Vector2f(UnitConverter.toPixScale(0.5f), UnitConverter.toPixScale(0.5f)));
square.centerOrigin();
square.FillColor = Color.Red;
square.OutlineColor = Color.Black;
square.OutlineThickness = 1;
b2World = new World(new Vec2(0, 10), false);
BodyDef b2Def = new BodyDef();
b2Def.BodyType = BodyType.Dynamic;
b2Def.Position = new Vec2(UnitConverter.toSimScale(mContext.mWindow.Size.X / 2), UnitConverter.toSimScale(mContext.mWindow.Size.Y / 8*3));
b2Body = b2World.CreateBody(b2Def);
PolygonShape dynamicbox = new PolygonShape();
dynamicbox.SetAsBox(UnitConverter.toSimScale(32), UnitConverter.toSimScale(32));
FixtureDef fixDef = new FixtureDef();
fixDef.Shape = dynamicbox;
fixDef.Density = 1;
fixDef.Friction = 0.3f;
b2Body.CreateFixture(fixDef);
square.Position = new Vector2f(UnitConverter.toPixScale(b2Body.Position.X), UnitConverter.toPixScale(b2Body.Position.Y));
}
public VaryingFriction()
{
{
BodyDef bd = new BodyDef();
Body ground = m_world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(13.0f, 0.25f);
BodyDef bd = new BodyDef();
bd.Position = new Vec2(-4.0f, 22.0f);
bd.Angle = -0.25f;
Body ground = m_world.CreateBody(bd);
ground.CreateFixture(shape, 0.0f);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.25f, 1.0f);
BodyDef bd = new BodyDef();
bd.Position = new Vec2(10.5f, 19.0f);
Body ground = m_world.CreateBody(bd);
ground.CreateFixture(shape, 0.0f);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(13.0f, 0.25f);
BodyDef bd = new BodyDef();
bd.Position = new Vec2(4.0f, 14.0f);
bd.Angle = 0.25f;
Body ground = m_world.CreateBody(bd);
ground.CreateFixture(shape, 0.0f);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.25f, 1.0f);
BodyDef bd = new BodyDef();
bd.Position = new Vec2(-10.5f, 11.0f);
Body ground = m_world.CreateBody(bd);
ground.CreateFixture(shape, 0.0f);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(13.0f, 0.25f);
BodyDef bd = new BodyDef();
bd.Position = new Vec2(-4.0f, 6.0f);
bd.Angle = -0.25f;
Body ground = m_world.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.BodyType = BodyType.Dynamic;
bd.Position = new Vec2(-15.0f + 4.0f * i, 28.0f);
Body body = m_world.CreateBody(bd);
fd.Friction = friction[i];
body.CreateFixture(fd);
}
}
}
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 EdgeShapes()
{
// Ground body
{
BodyDef bd = new BodyDef();
Body ground = m_world.CreateBody(bd);
float x1 = -20.0f;
float y1 = 2.0f * (float)Math.Cos(x1 / 10.0f * Math.PI);
for (int i = 0; i < 80; ++i)
{
float x2 = x1 + 0.5f;
float y2 = 2.0f * (float)Math.Cos(x2 / 10.0f * Math.PI);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vec2(x1, y1), new Vec2(x2, y2));
ground.CreateFixture(shape, 0.0f);
x1 = x2;
y1 = y2;
}
}
{
Vec2[] vertices = new Vec2[3];
vertices[0] = new Vec2(-0.5f, 0.0f);
vertices[1] = new Vec2(0.5f, 0.0f);
vertices[2] = new Vec2(0.0f, 1.5f);
m_polygons[0] = new PolygonShape();
m_polygons[0].Vertices = vertices;
}
{
Vec2[] vertices = new Vec2[3];
vertices[0] = new Vec2(-0.1f, 0.0f);
vertices[1] = new Vec2(0.1f, 0.0f);
vertices[2] = new Vec2(0.0f, 1.5f);
m_polygons[1] = new PolygonShape();
m_polygons[1].Vertices = vertices;
}
{
float w = 1.0f;
float b = w / (2.0f + (float)Math.Sqrt(2.0f));
float s = (float)Math.Sqrt(2.0f) * b;
Vec2[] vertices = new Vec2[8];
vertices[0] = new Vec2(0.5f * s, 0.0f);
vertices[1] = new Vec2(0.5f * w, b);
vertices[2] = new Vec2(0.5f * w, b + s);
vertices[3] = new Vec2(0.5f * s, w);
vertices[4] = new Vec2(-0.5f * s, w);
vertices[5] = new Vec2(-0.5f * w, b + s);
vertices[6] = new Vec2(-0.5f * w, b);
vertices[7] = new Vec2(-0.5f * s, 0.0f);
m_polygons[2] = new PolygonShape();
m_polygons[2].Vertices = vertices;
}
{
m_polygons[3] = new PolygonShape();
m_polygons[3].SetAsBox(0.5f, 0.5f);
}
{
m_circle = new CircleShape();
m_circle.Radius = 0.5f;
}
m_bodyIndex = 0;
m_angle = 0.0f;
}
public BodyTypes()
{
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = m_world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(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.BodyType = BodyType.Dynamic;
bd.Position = new Vec2(0.0f, 3.0f);
m_attachment = m_world.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.BodyType = BodyType.Dynamic;
bd.Position = new Vec2(-4.0f, 5.0f);
m_platform = m_world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.5f, 4.0f, new Vec2(4.0f, 0.0f), 0.5f * (float)Math.PI);
FixtureDef fd = new FixtureDef();
fd.Shape = shape;
fd.Friction = 0.6f;
fd.Density = 2.0f;
m_platform.CreateFixture(fd);
RevoluteJointDef rjd = new RevoluteJointDef();
rjd.Initialize(m_attachment, m_platform, new Vec2(0.0f, 5.0f));
rjd.MaxMotorTorque = 50.0f;
rjd.EnableMotor = true;
m_world.CreateJoint(rjd);
PrismaticJointDef pjd = new PrismaticJointDef();
pjd.Initialize(ground, m_platform, new Vec2(0.0f, 5.0f), new Vec2(1.0f, 0.0f));
pjd.MaxMotorForce = 1000.0f;
pjd.EnableMotor = true;
pjd.LowerTranslation = -10.0f;
pjd.UpperTranslation = 10.0f;
pjd.EnableLimit = true;
m_world.CreateJoint(pjd);
m_speed = 3.0f;
}
// Create a payload
{
BodyDef bd = new BodyDef();
bd.BodyType = BodyType.Dynamic;
bd.Position = new Vec2(0.0f, 8.0f);
m_payload = m_world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.75f, 0.75f);
FixtureDef fd = new FixtureDef();
fd.Shape = shape;
fd.Friction = 0.6f;
fd.Density = 2.0f;
m_payload.CreateFixture(fd);
}
}
public Test()
{
Vec2 gravity;
gravity = new Vec2(0.0f, -10.0f);
bool doSleep = true;
m_world = new World(gravity, doSleep);
m_bomb = null;
m_textLine = 30;
m_mouseJoint = null;
m_pointCount = 0;
m_destructionListener.test = this;
m_world.DestructionListener = m_destructionListener;
m_world.ContactListener = this;
m_world.DebugDraw = m_debugDraw;
m_bombSpawning = false;
m_stepCount = 0;
BodyDef bodyDef = new BodyDef();
m_groundBody = m_world.CreateBody(bodyDef);
m_groundBody.UserData = "Ground";
}
public Dominos()
{
Body b1 = m_world.CreateBody(new BodyDef());
b1.CreateFixture(new PolygonShape(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f)), 0.0f);
b1.UserData = 1;
{
Body ground = m_world.CreateBody(new BodyDef(BodyType.Static, new Vec2(-1.5f, 10.0f)));
ground.CreateFixture(new PolygonShape(6.0f, 0.25f), 0.0f);
ground.UserData = "ground";
}
for (int i = 0; i < 10; ++i)
{
Body body = m_world.CreateBody(new BodyDef(BodyType.Dynamic, new Vec2(-6.0f + 1.0f * i, 11.25f), 0));
body.CreateFixture(new FixtureDef(new PolygonShape(0.1f, 1.0f), 20.0f, 0.0f, 0.1f));
body.UserData = "domino " + i.ToString();
}
{
Body ground = m_world.CreateBody(new BodyDef(BodyType.Static, new Vec2(1.0f, 6.0f)));
ground.CreateFixture(new PolygonShape(7.0f, 0.25f, Vec2.Empty, 0.3f), 0.0f);
ground.UserData = "ground";
}
Body b2;
{
b2 = m_world.CreateBody(new BodyDef(BodyType.Static, new Vec2(-7.0f, 4.0f)));
b2.CreateFixture(new PolygonShape(0.25f, 1.5f), 0.0f);
b2.UserData = b2;
}
Body b3;
{
b3 = m_world.CreateBody(new BodyDef(BodyType.Dynamic, new Vec2(-0.9f, 1.0f), -0.15f));
b3.CreateFixture(new PolygonShape(6.0f, 0.125f), 10.0f);
b3.UserData = 3;
}
RevoluteJointDef jd = new RevoluteJointDef();
Vec2 anchor = new Vec2(-2.0f, 1.0f);
jd.Initialize(b1, b3, anchor);
jd.CollideConnected = true;
m_world.CreateJoint(jd);
Body b4;
{
b4 = m_world.CreateBody(new BodyDef(BodyType.Dynamic, new Vec2(-10.0f, 15.0f)));
b4.CreateFixture(new PolygonShape(0.25f, 0.25f), 10.0f);
b4.UserData = 4;
}
anchor = new Vec2(-7.0f, 15.0f);
jd.Initialize(b2, b4, anchor);
m_world.CreateJoint(jd);
Body b5;
{
b5 = m_world.CreateBody(new BodyDef(BodyType.Dynamic, new Vec2(6.5f, 3.0f)));
b5.CreateFixture(new FixtureDef(new PolygonShape(1.0f, 0.1f, new Vec2(0.0f, -0.9f), 0.0f), 10.0f, 0.0f, 0.1f));
b5.CreateFixture(new FixtureDef(new PolygonShape(0.1f, 1.0f, new Vec2(-0.9f, 0.0f), 0.0f), 10.0f, 0.0f, 0.1f));
b5.CreateFixture(new FixtureDef(new PolygonShape(0.1f, 1.0f, new Vec2(0.9f, 0.0f), 0.0f), 10.0f, 0.0f, 0.1f));
b5.UserData = 5;
}
anchor = new Vec2(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.BodyType = BodyType.Dynamic;
bd.Position = new Vec2(6.5f, 4.1f);
b6 = m_world.CreateBody(bd);
b6.CreateFixture(shape, 30.0f);
b6.UserData = 6;
}
anchor = new Vec2(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.BodyType = BodyType.Dynamic;
bd.Position = new Vec2(7.4f, 1.0f);
b7 = m_world.CreateBody(bd);
b7.CreateFixture(shape, 10.0f);
b7.UserData = 7;
}
DistanceJointDef djd = new DistanceJointDef();
djd.BodyA = b3;
djd.BodyB = b7;
djd.LocalAnchorA = new Vec2(6.0f, 0.0f);
djd.LocalAnchorB = new Vec2(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.Radius = radius;
for (int i = 0; i < 4; ++i)
{
BodyDef bd = new BodyDef();
bd.BodyType = BodyType.Dynamic;
bd.Position = new Vec2(5.9f + 2.0f * radius * i, 2.4f);
Body body = m_world.CreateBody(bd);
body.CreateFixture(shape, 10.0f);
body.UserData = "circle";
}
}
}
public object Clone()
{
BodyDef def = new BodyDef(BodyType, Position, Angle, LinearVelocity, AngularVelocity, LinearDamping, AngularDamping, Bullet, Active, FixedRotation, AllowSleep, Awake, InertiaScale, UserData);
return def;
}
public Cloth()
{
FixtureDef boxFix = new FixtureDef(new CircleShape(ClothBodySize), 0.2f);
BodyDef boxBod = new BodyDef(BodyType.Dynamic, Vec2.Empty);
boxFix.Filter.GroupIndex = -1;
boxBod.Position = new Vec2(-ClothTotalWidth / 2, 30);
Body bar;
{
bar = m_world.CreateBody(new BodyDef(BodyType.Static, new Vec2(-ClothBodySpacingWidth / 2, 30)));
var fd = new FixtureDef(new PolygonShape((ClothTotalWidth / 2) + ClothBodySpacingWidth, 0.25f));
fd.Filter.GroupIndex = -1;
bar.CreateFixture(fd);
}
for (int y = 0; y < ClothSegmentsHeight; ++y)
{
for (int x = 0; x < ClothSegmentsWidth; ++x)
{
Body body = m_world.CreateBody(boxBod);
boxBod.Position += new Vec2(ClothBodySpacingWidth, 0);
body.CreateFixture(boxFix);
if (y == 0)
{
WeldJointDef wjd = new WeldJointDef();
wjd.Initialize(body, bar, body.WorldCenter);
m_world.CreateJoint(wjd);
}
cloth[x, y] = body;
}
boxBod.Position = new Vec2(-ClothTotalWidth / 2, boxBod.Position.Y - ClothBodySpacingWidth);
}
for (int y = 0; y < ClothSegmentsHeight; ++y)
{
for (int x = 0; x < ClothSegmentsWidth; ++x)
{
Body leftBody, rightBody;
DistanceJointDef djd = new DistanceJointDef();
djd.FrequencyHz = 15 + Rand.RandomFloat(0, 6);
djd.DampingRatio = 0.11f + Rand.RandomFloat(0.01f, 0.15f);
// connect to right
if (x != ClothSegmentsWidth - 1)
{
leftBody = cloth[x, y];
rightBody = cloth[x + 1, y];
djd.Initialize(leftBody, rightBody, leftBody.WorldCenter, rightBody.WorldCenter);
m_world.CreateJoint(djd);
}
// connect to up
if (y != 0)
{
leftBody = cloth[x, y];
rightBody = cloth[x, y - 1];
djd.Initialize(leftBody, rightBody, leftBody.WorldCenter, rightBody.WorldCenter);
m_world.CreateJoint(djd);
}
}
}
}
public Web()
{
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = m_world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(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, 0.5f);
BodyDef bd = new BodyDef();
bd.BodyType = BodyType.Dynamic;
bd.Position = new Vec2(-5.0f, 5.0f);
m_bodies[0] = m_world.CreateBody(bd);
m_bodies[0].CreateFixture(shape, 5.0f);
bd.Position = new Vec2(5.0f, 5.0f);
m_bodies[1] = m_world.CreateBody(bd);
m_bodies[1].CreateFixture(shape, 5.0f);
bd.Position = new Vec2(5.0f, 15.0f);
m_bodies[2] = m_world.CreateBody(bd);
m_bodies[2].CreateFixture(shape, 5.0f);
bd.Position = new Vec2(-5.0f, 15.0f);
m_bodies[3] = m_world.CreateBody(bd);
m_bodies[3].CreateFixture(shape, 5.0f);
DistanceJointDef jd = new DistanceJointDef();
Vec2 p1, p2, d;
jd.FrequencyHz = 4.0f;
jd.DampingRatio = 0.5f;
jd.BodyA = ground;
jd.BodyB = m_bodies[0];
jd.LocalAnchorA = new Vec2(-10.0f, 0.0f);
jd.LocalAnchorB = new Vec2(-0.5f, -0.5f);
p1 = jd.BodyA.GetWorldPoint(jd.LocalAnchorA);
p2 = jd.BodyB.GetWorldPoint(jd.LocalAnchorB);
d = p2 - p1;
jd.Length = d.Length();
m_joints[0] = m_world.CreateJoint(jd);
jd.BodyA = ground;
jd.BodyB = m_bodies[1];
jd.LocalAnchorA = new Vec2(10.0f, 0.0f);
jd.LocalAnchorB = new Vec2(0.5f, -0.5f);
p1 = jd.BodyA.GetWorldPoint(jd.LocalAnchorA);
p2 = jd.BodyB.GetWorldPoint(jd.LocalAnchorB);
d = p2 - p1;
jd.Length = d.Length();
m_joints[1] = m_world.CreateJoint(jd);
jd.BodyA = ground;
jd.BodyB = m_bodies[2];
jd.LocalAnchorA = new Vec2(10.0f, 20.0f);
jd.LocalAnchorB = new Vec2(0.5f, 0.5f);
p1 = jd.BodyA.GetWorldPoint(jd.LocalAnchorA);
p2 = jd.BodyB.GetWorldPoint(jd.LocalAnchorB);
d = p2 - p1;
jd.Length = d.Length();
m_joints[2] = m_world.CreateJoint(jd);
jd.BodyA = ground;
jd.BodyB = m_bodies[3];
jd.LocalAnchorA = new Vec2(-10.0f, 20.0f);
jd.LocalAnchorB = new Vec2(-0.5f, 0.5f);
p1 = jd.BodyA.GetWorldPoint(jd.LocalAnchorA);
p2 = jd.BodyB.GetWorldPoint(jd.LocalAnchorB);
d = p2 - p1;
jd.Length = d.Length();
m_joints[3] = m_world.CreateJoint(jd);
jd.BodyA = m_bodies[0];
jd.BodyB = m_bodies[1];
jd.LocalAnchorA = new Vec2(0.5f, 0.0f);
jd.LocalAnchorB = new Vec2(-0.5f, 0.0f);;
p1 = jd.BodyA.GetWorldPoint(jd.LocalAnchorA);
p2 = jd.BodyB.GetWorldPoint(jd.LocalAnchorB);
d = p2 - p1;
jd.Length = d.Length();
m_joints[4] = m_world.CreateJoint(jd);
jd.BodyA = m_bodies[1];
jd.BodyB = m_bodies[2];
jd.LocalAnchorA = new Vec2(0.0f, 0.5f);
jd.LocalAnchorB = new Vec2(0.0f, -0.5f);
p1 = jd.BodyA.GetWorldPoint(jd.LocalAnchorA);
p2 = jd.BodyB.GetWorldPoint(jd.LocalAnchorB);
d = p2 - p1;
jd.Length = d.Length();
m_joints[5] = m_world.CreateJoint(jd);
jd.BodyA = m_bodies[2];
jd.BodyB = m_bodies[3];
jd.LocalAnchorA = new Vec2(-0.5f, 0.0f);
jd.LocalAnchorB = new Vec2(0.5f, 0.0f);
p1 = jd.BodyA.GetWorldPoint(jd.LocalAnchorA);
p2 = jd.BodyB.GetWorldPoint(jd.LocalAnchorB);
d = p2 - p1;
jd.Length = d.Length();
m_joints[6] = m_world.CreateJoint(jd);
jd.BodyA = m_bodies[3];
jd.BodyB = m_bodies[0];
jd.LocalAnchorA = new Vec2(0.0f, -0.5f);
jd.LocalAnchorB = new Vec2(0.0f, 0.5f);
p1 = jd.BodyA.GetWorldPoint(jd.LocalAnchorA);
p2 = jd.BodyB.GetWorldPoint(jd.LocalAnchorB);
d = p2 - p1;
jd.Length = d.Length();
m_joints[7] = m_world.CreateJoint(jd);
}
}
public ApplyForce()
{
m_world.Gravity = new Vec2(0.0f, 0.0f);
const float k_restitution = 0.4f;
Body ground;
{
BodyDef bd = new BodyDef();
bd.Position = new Vec2(0.0f, 20.0f);
ground = m_world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
FixtureDef sd = new FixtureDef();
sd.Shape = shape;
sd.Density = 0.0f;
sd.Restitution = k_restitution;
// Left vertical
shape.SetAsEdge(new Vec2(-20.0f, -20.0f), new Vec2(-20.0f, 20.0f));
ground.CreateFixture(sd);
// Right vertical
shape.SetAsEdge(new Vec2(20.0f, -20.0f), new Vec2(20.0f, 20.0f));
ground.CreateFixture(sd);
// Top horizontal
shape.SetAsEdge(new Vec2(-20.0f, 20.0f), new Vec2(20.0f, 20.0f));
ground.CreateFixture(sd);
// Bottom horizontal
shape.SetAsEdge(new Vec2(-20.0f, -20.0f), new Vec2(20.0f, -20.0f));
ground.CreateFixture(sd);
}
{
Transform xf1 = new Transform();
xf1.R = new Mat22(0.3524f * (float)Math.PI);
xf1.Position = (xf1.R * new Vec2(1.0f, 0.0f));
Vec2[] vertices = new Vec2[3]
{
(xf1 * new Vec2(-1.0f, 0.0f)),
(xf1 * new Vec2(1.0f, 0.0f)),
(xf1 * new Vec2(0.0f, 0.5f))
};
PolygonShape poly1 = new PolygonShape(vertices);
FixtureDef sd1 = new FixtureDef();
sd1.Shape = poly1;
sd1.Density = 4.0f;
Transform xf2 = new Transform();
xf2.R = new Mat22(-0.3524f * (float)Math.PI);
xf2.Position = (xf2.R * new Vec2(-1.0f, 0.0f));
vertices = new Vec2[]
{
(xf2 * new Vec2(-1.0f, 0.0f)),
(xf2 * new Vec2(1.0f, 0.0f)),
(xf2 * new Vec2(0.0f, 0.5f))
};
PolygonShape poly2 = new PolygonShape(vertices);
FixtureDef sd2 = new FixtureDef();
sd2.Shape = poly2;
sd2.Density = 2.0f;
BodyDef bd = new BodyDef();
bd.BodyType = BodyType.Dynamic;
bd.AngularDamping = 5.0f;
bd.LinearDamping = 0.1f;
bd.Position = new Vec2(0.0f, 2.0f);
bd.Angle = (float)Math.PI;
bd.AllowSleep = false;
m_body = m_world.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.BodyType = BodyType.Dynamic;
bd.Position = new Vec2(0.0f, 5.0f + 1.54f * i);
Body body = m_world.CreateBody(bd);
body.CreateFixture(fd);
float gravity = 10.0f;
float I = body.Inertia;
float mass = body.Mass;
// For a circle: I = 0.5 * m * r * r ==> r = sqrt(2 * I / m)
float radius = (float)Math.Sqrt(2.0f * I / mass);
FrictionJointDef jd = new FrictionJointDef();
jd.LocalAnchorA = jd.LocalAnchorB = Vec2.Empty;
jd.BodyA = ground;
jd.BodyB = body;
jd.CollideConnected = true;
jd.MaxForce = mass * gravity;
jd.MaxTorque = mass * radius * gravity;
m_world.CreateJoint(jd);
}
}
}
public void DrawJoint(Box2CS.Serialize.JointDefSerialized x, Vec2 p1, Vec2 p2, BodyDef bodyA, BodyDef bodyB)
{
Transform xf1 = new Transform(bodyA.Position, new Mat22(bodyA.Angle));
Transform xf2 = new Transform(bodyB.Position, new Mat22(bodyB.Angle));
Vec2 x1 = xf1.Position;
Vec2 x2 = xf2.Position;
p1 = xf1 * p1;
p2 = xf2 * p2;
ColorF color = new ColorF(0.5f, 0.8f, 0.8f);
switch (x.Joint.JointType)
{
case JointType.Distance:
DrawSegment(p1, p2, color);
break;
case JointType.Pulley:
{
PulleyJointDef pulley = (PulleyJointDef)x.Joint;
Vec2 s1 = pulley.GroundAnchorA;
Vec2 s2 = pulley.GroundAnchorB;
DrawSegment(s1, p1, color);
DrawSegment(s2, p2, color);
DrawSegment(s1, s2, color);
}
break;
case JointType.Revolute:
{
RevoluteJointDef rjd = (RevoluteJointDef)x.Joint;
if (rjd.EnableLimit)
{
Vec2 startPos = p1;
Vec2 sinCos = new Vec2(-(float)Math.Cos((rjd.UpperAngle + rjd.ReferenceAngle) - (float)Math.PI / 2), -(float)Math.Sin((rjd.UpperAngle + rjd.ReferenceAngle) - (float)Math.PI / 2));
var end = startPos + (sinCos * 3);
DrawSegment(startPos, end, new ColorF(0, 0.65f, 0.65f));
sinCos = new Vec2(-(float)Math.Cos((rjd.LowerAngle + rjd.ReferenceAngle) - (float)Math.PI / 2), -(float)Math.Sin((rjd.LowerAngle + rjd.ReferenceAngle) - (float)Math.PI / 2));
end = startPos + (sinCos * 3);
DrawSegment(startPos, end, new ColorF(0, 0.65f, 0.65f));
DrawArc(startPos, 3, (-rjd.LowerAngle - rjd.ReferenceAngle), (-rjd.UpperAngle - rjd.ReferenceAngle));
}
DrawCircle(p1, 0.75f, new ColorF(0, 0.65f, 0.65f));
DrawSegment(x1, p1, color);
DrawSegment(p1, p2, color);
DrawSegment(x2, p2, color);
}
break;
default:
case JointType.Unknown:
DrawSegment(x1, p1, color);
DrawSegment(p1, p2, color);
DrawSegment(x2, p2, color);
break;
}
}
public CharacterCollision()
{
// Ground body
{
BodyDef bd = new BodyDef();
Body ground = m_world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vec2(-20.0f, 0.0f), new Vec2(20.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
// Collinear edges
{
BodyDef bd = new BodyDef();
Body ground = m_world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vec2(-8.0f, 1.0f), new Vec2(-6.0f, 1.0f));
ground.CreateFixture(shape, 0.0f);
shape.SetAsEdge(new Vec2(-6.0f, 1.0f), new Vec2(-4.0f, 1.0f));
ground.CreateFixture(shape, 0.0f);
shape.SetAsEdge(new Vec2(-4.0f, 1.0f), new Vec2(-2.0f, 1.0f));
ground.CreateFixture(shape, 0.0f);
}
// Square tiles
{
BodyDef bd = new BodyDef();
Body ground = m_world.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 edges notice how the edges are shrunk to account
// for the polygon radius. This makes it so the square character does
// not get snagged. However, ray casts can now go through the cracks.
{
BodyDef bd = new BodyDef();
Body ground = m_world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
float d = 2.0f * Box2DSettings.b2_polygonRadius;
shape.SetAsEdge(new Vec2(-1.0f + d, 3.0f), new Vec2(1.0f - d, 3.0f));
ground.CreateFixture(shape, 0.0f);
shape.SetAsEdge(new Vec2(1.0f, 3.0f + d), new Vec2(1.0f, 5.0f - d));
ground.CreateFixture(shape, 0.0f);
shape.SetAsEdge(new Vec2(1.0f - d, 5.0f), new Vec2(-1.0f + d, 5.0f));
ground.CreateFixture(shape, 0.0f);
shape.SetAsEdge(new Vec2(-1.0f, 5.0f - d), new Vec2(-1.0f, 3.0f + d));
ground.CreateFixture(shape, 0.0f);
}
// Square character
{
BodyDef bd = new BodyDef();
bd.Position = new Vec2(-3.0f, 5.0f);
bd.BodyType = BodyType.Dynamic;
bd.FixedRotation = true;
bd.AllowSleep = false;
Body body = m_world.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);
}
// Hexagon character
{
BodyDef bd = new BodyDef();
bd.Position = new Vec2(-5.0f, 5.0f);
bd.BodyType = BodyType.Dynamic;
bd.FixedRotation = true;
bd.AllowSleep = false;
Body body = m_world.CreateBody(bd);
float angle = 0.0f;
float delta = (float)Math.PI / 3.0f;
Vec2[] vertices = new Vec2[6];
for (int i = 0; i < 6; ++i)
{
vertices[i] = new Vec2(0.5f * (float)Math.Cos(angle), 0.5f * (float)Math.Sin(angle));
angle += delta;
}
PolygonShape shape = new PolygonShape();
shape.Vertices = vertices;
FixtureDef fd = new FixtureDef();
fd.Shape = shape;
fd.Density = 20.0f;
body.CreateFixture(fd);
}
// Circle character
{
BodyDef bd = new BodyDef();
bd.Position = new Vec2(3.0f, 5.0f);
bd.BodyType = BodyType.Dynamic;
bd.FixedRotation = true;
bd.AllowSleep = false;
Body body = m_world.CreateBody(bd);
CircleShape shape = new CircleShape();
shape.Radius = 0.5f;
FixtureDef fd = new FixtureDef();
fd.Shape = shape;
fd.Density = 20.0f;
body.CreateFixture(fd);
}
}
void Create(int index)
{
if (m_bodies[m_bodyIndex] != null)
{
m_world.DestroyBody(m_bodies[m_bodyIndex]);
m_bodies[m_bodyIndex] = null;
}
BodyDef bd = new BodyDef();
float x = Rand.RandomFloat(-10.0f, 10.0f);
float y = Rand.RandomFloat(0.0f, 20.0f);
bd.Position = new Vec2(x, y);
bd.Angle = Rand.RandomFloat((float)-Math.PI, (float)Math.PI);
bd.UserData = index;
if (index == 4)
bd.AngularDamping = 0.02f;
m_bodies[m_bodyIndex] = m_world.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
{
FixtureDef fd = new FixtureDef();
fd.Shape = m_circle;
fd.Friction = 0.3f;
m_bodies[m_bodyIndex].CreateFixture(fd);
}
m_bodyIndex = (m_bodyIndex + 1) % e_maxBodies;
}
public CollisionFiltering()
{
// Ground body
{
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(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 = m_world.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(vertices);
FixtureDef triangleShapeDef = new FixtureDef();
triangleShapeDef.Shape = polygon;
triangleShapeDef.Density = 1.0f;
triangleShapeDef.Filter = new FilterData(k_triangleCategory, k_triangleMask, k_smallGroup);
BodyDef triangleBodyDef = new BodyDef();
triangleBodyDef.BodyType = BodyType.Dynamic;
triangleBodyDef.Position = new Vec2(-5.0f, 2.0f);
Body body1 = m_world.CreateBody(triangleBodyDef);
body1.CreateFixture(triangleShapeDef);
// Large triangle (recycle definitions)
vertices[0] *= 2.0f;
vertices[1] *= 2.0f;
vertices[2] *= 2.0f;
polygon.Vertices = vertices;
triangleShapeDef.Filter = new FilterData(triangleShapeDef.Filter.CategoryBits, triangleShapeDef.Filter.MaskBits, k_largeGroup);
triangleBodyDef.Position = new Vec2(-5.0f, 6.0f);
triangleBodyDef.FixedRotation = true; // look at me!
Body body2 = m_world.CreateBody(triangleBodyDef);
body2.CreateFixture(triangleShapeDef);
{
BodyDef bd = new BodyDef();
bd.BodyType = BodyType.Dynamic;
bd.Position = new Vec2(-5.0f, 10.0f);
Body body = m_world.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 = new Vec2(0.0f, 4.0f);
jd.LocalAnchorB = Vec2.Empty;
jd.LocalAxis = new Vec2(0.0f, 1.0f);
jd.LowerTranslation = -1.0f;
jd.UpperTranslation = 1.0f;
m_world.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 = new FilterData(k_boxCategory, k_boxMask, k_smallGroup);
BodyDef boxBodyDef = new BodyDef();
boxBodyDef.BodyType = BodyType.Dynamic;
boxBodyDef.Position = new Vec2(0.0f, 2.0f);
Body body3 = m_world.CreateBody(boxBodyDef);
body3.CreateFixture(boxShapeDef);
// Large box (recycle definitions)
polygon.SetAsBox(2.0f, 1.0f);
boxShapeDef.Filter = new FilterData(k_boxCategory, k_boxMask, k_largeGroup);
boxBodyDef.Position = new Vec2(0.0f, 6.0f);
Body body4 = m_world.CreateBody(boxBodyDef);
body4.CreateFixture(boxShapeDef);
// Small circle
CircleShape circle = new CircleShape();
circle.Radius = 1.0f;
FixtureDef circleShapeDef = new FixtureDef();
circleShapeDef.Shape = circle;
circleShapeDef.Density = 1.0f;
circleShapeDef.Filter = new FilterData(k_circleCategory, k_circleMask, k_smallGroup);
BodyDef circleBodyDef = new BodyDef();
circleBodyDef.BodyType = BodyType.Dynamic;
circleBodyDef.Position = new Vec2(5.0f, 2.0f);
Body body5 = m_world.CreateBody(circleBodyDef);
body5.CreateFixture(circleShapeDef);
// Large circle
circle.Radius *= 2.0f;
circleShapeDef.Filter = new FilterData(k_circleCategory, k_circleMask, k_largeGroup);
circleBodyDef.Position = new Vec2(5.0f, 6.0f);
Body body6 = m_world.CreateBody(circleBodyDef);
body6.CreateFixture(circleShapeDef);
}
public RayCast()
{
// Ground body
{
BodyDef bd = new BodyDef();
Body ground = m_world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
{
Vec2[] vertices = new Vec2[3];
vertices[0] = new Vec2(-0.5f, 0.0f);
vertices[1] = new Vec2(0.5f, 0.0f);
vertices[2] = new Vec2(0.0f, 1.5f);
m_polygons[0] = new PolygonShape();
m_polygons[0].Vertices = vertices;
}
{
Vec2[] vertices = new Vec2[3];
vertices[0] = new Vec2(-0.1f, 0.0f);
vertices[1] = new Vec2(0.1f, 0.0f);
vertices[2] = new Vec2(0.0f, 1.5f);
m_polygons[1] = new PolygonShape();
m_polygons[1].Vertices = vertices;
}
{
float w = 1.0f;
float b = w / (2.0f + (float)Math.Sqrt(2.0f));
float s = (float)Math.Sqrt(2.0f) * b;
Vec2[] vertices = new Vec2[8];
vertices[0] = new Vec2(0.5f * s, 0.0f);
vertices[1] = new Vec2(0.5f * w, b);
vertices[2] = new Vec2(0.5f * w, b + s);
vertices[3] = new Vec2(0.5f * s, w);
vertices[4] = new Vec2(-0.5f * s, w);
vertices[5] = new Vec2(-0.5f * w, b + s);
vertices[6] = new Vec2(-0.5f * w, b);
vertices[7] = new Vec2(-0.5f * s, 0.0f);
m_polygons[2] = new PolygonShape();
m_polygons[2].Vertices = vertices;
}
{
m_polygons[3] = new PolygonShape();
m_polygons[3].SetAsBox(0.5f, 0.5f);
}
{
m_circle = new CircleShape();
m_circle.Radius = 0.5f;
}
m_bodyIndex = 0;
m_angle = 0.0f;
m_mode = Mode.e_closest;
}
public Pyramid()
{
{
BodyDef bd = new BodyDef();
{
Body ground = m_world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
{
shape.SetAsEdge(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
}
}
{
float a = 0.5f;
PolygonShape shape = new PolygonShape();
{
shape.SetAsBox(a, a);
Vec2 x = new Vec2(-7.0f, 0.75f), y;
Vec2 deltaX = new Vec2(0.5625f, 1.25f);
Vec2 deltaY = new Vec2(1.125f, 0.0f);
BodyDef bd = new BodyDef();
{
for (int i = 0; i < e_count; ++i)
{
y = x;
for (int j = i; j < e_count; ++j)
{
bd.BodyType = BodyType.Dynamic;
bd.Position = y;
Body body = m_world.CreateBody(bd);
body.CreateFixture(shape, 5.0f);
body.UserData = totalCount;
totalCount++;
m_bodies.Add(body);
y += deltaY;
}
x += deltaX;
}
m_touching = new bool[totalCount];
}
}
}
{
Body movableBody = m_world.CreateBody(new BodyDef());
movableBody.Position = new Vec2(999, 999);
CircleShape shape = new CircleShape();
shape.Radius = 7.0f;
shape.Position = new Vec2(0, 0);
FixtureDef fd = new FixtureDef();
fd.Shape = shape;
fd.IsSensor = true;
m_sensor = movableBody.CreateFixture(fd);
}
}
