internal DistanceJoint(DistanceJointDef def) : base(def) { m_localAnchorA = def.localAnchorA; m_localAnchorB = def.localAnchorB; m_length = def.length; m_frequencyHz = def.frequencyHz; m_dampingRatio = def.dampingRatio; m_impulse = 0.0f; m_gamma = 0.0f; m_bias = 0.0f; }
internal DistanceJoint(DistanceJointDef def) : base(def) { _localAnchor1 = def.localAnchorA; _localAnchor2 = def.localAnchorB; _length = def.length; _frequencyHz = def.frequencyHz; _dampingRatio = def.dampingRatio; _impulse = 0.0f; _gamma = 0.0f; _bias = 0.0f; }
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 Web() { Body ground = null; { BodyDef bd = new BodyDef(); ground = m_world.CreateBody(bd); EdgeShape shape = new EdgeShape(); shape.Set(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f)); shape.Density = 0; ground.CreateFixture(shape); } { PolygonShape shape = new PolygonShape(); shape.SetAsBox(0.5f, 0.5f); shape.Density = 5; BodyDef bd = new BodyDef(); bd.type = BodyType._dynamicBody; bd.Position.Set(-5.0f, 5.0f); m_bodies[0] = m_world.CreateBody(bd); m_bodies[0].CreateFixture(shape); bd.Position.Set(5.0f, 5.0f); m_bodies[1] = m_world.CreateBody(bd); m_bodies[1].CreateFixture(shape); bd.Position.Set(5.0f, 15.0f); m_bodies[2] = m_world.CreateBody(bd); m_bodies[2].CreateFixture(shape); bd.Position.Set(-5.0f, 15.0f); m_bodies[3] = m_world.CreateBody(bd); m_bodies[3].CreateFixture(shape); DistanceJointDef jd = new DistanceJointDef(); Vec2 p1, p2, d; jd.frequencyHz = 2.0f; jd.dampingRatio = 0.0f; jd.bodyA = ground; jd.bodyB = m_bodies[0]; jd.localAnchorA.Set(-10.0f, 0.0f); jd.localAnchorB.Set(-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.Set(10.0f, 0.0f); jd.localAnchorB.Set(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.Set(10.0f, 20.0f); jd.localAnchorB.Set(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.Set(-10.0f, 20.0f); jd.localAnchorB.Set(-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.Set(0.5f, 0.0f); jd.localAnchorB.Set(-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.Set(0.0f, 0.5f); jd.localAnchorB.Set(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.Set(-0.5f, 0.0f); jd.localAnchorB.Set(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.Set(0.0f, -0.5f); jd.localAnchorB.Set(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 void CreateLeg(float s, Vec2 wheelAnchor) { Vec2 p1 = new Vec2(5.4f * s, -6.1f); Vec2 p2 = new Vec2(7.2f * s, -1.2f); Vec2 p3 = new Vec2(4.3f * s, -1.9f); Vec2 p4 = new Vec2(3.1f * s, 0.8f); Vec2 p5 = new Vec2(6.0f * s, 1.5f); Vec2 p6 = new Vec2(2.5f * s, 3.7f); FixtureDef fd1 = new FixtureDef(); FixtureDef fd2 = new FixtureDef(); fd1.Filter.GroupIndex = -1; fd2.Filter.GroupIndex = -1; fd1.Density = 1.0f; fd2.Density = 1.0f; PolygonShape poly1 = new PolygonShape(); PolygonShape poly2 = new PolygonShape(); if (s > 0.0f) { Vec2[] vertices = new Vec2[3]; vertices[0] = p1; vertices[1] = p2; vertices[2] = p3; poly1.Set(vertices, 3); vertices[0] = new Vec2(0, 0); vertices[1] = p5 - p4; vertices[2] = p6 - p4; poly2.Set(vertices, 3); } else { Vec2[] vertices = new Vec2[3]; vertices[0] = p1; vertices[1] = p3; vertices[2] = p2; poly1.Set(vertices, 3); vertices[0] = new Vec2(0, 0); vertices[1] = p6 - p4; vertices[2] = p5 - p4; poly2.Set(vertices, 3); } fd1.shape = poly1; fd2.shape = poly2; BodyDef bd1 = new BodyDef(); BodyDef bd2 = new BodyDef(); bd1.type = BodyType._dynamicBody; bd2.type = BodyType._dynamicBody; bd1.Position = m_offset; bd2.Position = p4 + m_offset; bd1.angularDamping = 10.0f; bd2.angularDamping = 10.0f; Body body1 = m_world.CreateBody(bd1); Body body2 = m_world.CreateBody(bd2); body1.CreateFixture(fd1); body2.CreateFixture(fd2); DistanceJointDef djd = new DistanceJointDef(); // Using a soft distance constraint can reduce some jitter. // It also makes the structure seem a bit more fluid by // acting like a suspension system. djd.dampingRatio = 0.5f; djd.frequencyHz = 10.0f; djd.Initialize(body1, body2, p2 + m_offset, p5 + m_offset); m_world.CreateJoint(djd); djd.Initialize(body1, body2, p3 + m_offset, p4 + m_offset); m_world.CreateJoint(djd); djd.Initialize(body1, m_wheel, p3 + m_offset, wheelAnchor + m_offset); m_world.CreateJoint(djd); djd.Initialize(body2, m_wheel, p6 + m_offset, wheelAnchor + m_offset); m_world.CreateJoint(djd); RevoluteJointDef rjd = new RevoluteJointDef(); rjd.Initialize(body2, m_chassis, p4 + m_offset); m_world.CreateJoint(rjd); }