public Test()
{
AABB aabb = new AABB();
aabb.UpperBound = new UnityEngine.Vector2(100,100);
aabb.LowerBound = new UnityEngine.Vector2(-100,-100);
World world = new World(aabb, new Vector2(0, -1), false);
BodyDef groundBodyDef = new BodyDef();
groundBodyDef.Position.Set(0, 0);
PolygonShape groundBox = new PolygonShape();
groundBox.SetAsBox(10, 1);
Body body = new Body(groundBodyDef, world);
}
public TimeOfImpact()
{
{
_shapeA = new PolygonShape();
_shapeA.SetAsBox(10.0f, 0.2f);
}
{
_shapeB = new PolygonShape();
_shapeB.SetAsBox(2.0f, 0.1f);
}
}
public DistanceTest()
{
{
_polygonA = new PolygonShape();
_transformA.SetIdentity();
_transformA.Position.Set(0.0f, -0.2f);
_polygonA.SetAsBox(10.0f, 0.2f);
}
{
_polygonB = new PolygonShape();
_positionB.Set(12.017401f, 0.13678508f);
_angleB = -0.0109265f;
_transformB.Set(_positionB, _angleB);
_polygonB.SetAsBox(2.0f, 0.1f);
}
}
public Chain()
{
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = _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);
}
{
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;
const float y = 25.0f;
Body prevBody = ground;
for (int i = 0; i < 30; ++i)
{
BodyDef bd = new BodyDef();
bd.Position.Set(0.5f + i, y);
Body body = _world.CreateBody(bd);
body.CreateFixture(fd);
Vec2 anchor = new Vec2(i, y);
jd.Initialize(prevBody, body, anchor);
_world.CreateJoint(jd);
prevBody = body;
}
}
}
public Pulleys()
{
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = _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);
}
{
float a = 2.0f;
float b = 4.0f;
float y = 16.0f;
float L = 12.0f;
PolygonShape shape = new PolygonShape();
shape.SetAsBox(a, b);
BodyDef bd = new BodyDef();
bd.Position.Set(-10.0f, y);
Body body1 = _world.CreateBody(bd);
body1.CreateFixture(shape, 5.0f);
bd.Position.Set(10.0f, y);
Body body2 = _world.CreateBody(bd);
body2.CreateFixture(shape, 5.0f);
PulleyJointDef pulleyDef = new PulleyJointDef();
Vec2 anchor1 = new Vec2(-10.0f, y + b);
Vec2 anchor2 = new Vec2(10.0f, y + b);
Vec2 groundAnchor1 = new Vec2(-10.0f, y + b + L);
Vec2 groundAnchor2 = new Vec2(10.0f, y + b + L);
pulleyDef.Initialize(body1, body2, groundAnchor1, groundAnchor2, anchor1, anchor2, 2.0f);
_joint1 = (PulleyJoint)_world.CreateJoint(pulleyDef);
}
}
public Prismatic()
{
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = _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);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(2.0f, 0.5f);
BodyDef bd = new BodyDef();
bd.Position.Set(-10.0f, 10.0f);
bd.Angle = 0.5f * Box2DX.Common.Settings.PI;
Body body = _world.CreateBody(bd);
body.CreateFixture(shape, 5.0f);
PrismaticJointDef pjd = new PrismaticJointDef();
// Bouncy limit
pjd.Initialize(ground, body, new Vec2(0.0f, 0.0f), new Vec2(1.0f, 0.0f));
// Non-bouncy limit
//pjd.Initialize(ground, body, b2Vec2(-10.0f, 10.0f), b2Vec2(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;
_joint = (PrismaticJoint)_world.CreateJoint(pjd);
}
}
public Pyramid()
{
{
BodyDef bd = new BodyDef();
Body ground = _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);
}
{
float a = 0.5f;
PolygonShape shape = new PolygonShape();
shape.SetAsBox(a, a);
Vec2 x = new Vec2(-7.0f, 0.75f);
Vec2 y;
Vec2 deltaX = new Vec2(0.5625f, 1.25f);
Vec2 deltaY = new Vec2(1.125f, 0.0f);
for (int i = 0; i < _count; ++i)
{
y = x;
for (int j = i; j < _count; ++j)
{
BodyDef bd = new BodyDef();
bd.Position = y;
Body body = _world.CreateBody(bd);
body.CreateFixture(shape, 5.0f);
y += deltaY;
}
x += deltaX;
}
}
}
public CollisionProcessing()
{
// Ground body
{
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vec2(-50.0f, 0.0f), new Vec2(50.0f, 0.0f));
FixtureDef sd = new FixtureDef();
sd.Shape = shape; ;
BodyDef bd = new BodyDef();
Body ground = _world.CreateBody(bd);
ground.CreateFixture(sd);
}
float xLo = -5.0f, xHi = 5.0f;
float yLo = 2.0f, yHi = 35.0f;
// Small triangle
Vec2[] vertices = new Vec2[3];
vertices[0].Set(-1.0f, 0.0f);
vertices[1].Set(1.0f, 0.0f);
vertices[2].Set(0.0f, 2.0f);
PolygonShape polygon = new PolygonShape();
polygon.Set(vertices, 3);
FixtureDef triangleShapeDef = new FixtureDef();
triangleShapeDef.Shape = polygon;
triangleShapeDef.Density = 1.0f;
BodyDef triangleBodyDef = new BodyDef();
triangleBodyDef.Position.Set(Math.Random(xLo, xHi), Math.Random(yLo, yHi));
Body body1 = _world.CreateBody(triangleBodyDef);
body1.CreateFixture(triangleShapeDef);
// Large triangle (recycle definitions)
vertices[0] *= 2.0f;
vertices[1] *= 2.0f;
vertices[2] *= 2.0f;
polygon.Set(vertices, 3);
triangleBodyDef.Position.Set(Math.Random(xLo, xHi), Math.Random(yLo, yHi));
Body body2 = _world.CreateBody(triangleBodyDef);
body2.CreateFixture(triangleShapeDef);
// Small box
polygon.SetAsBox(1.0f, 0.5f);
FixtureDef boxShapeDef = new FixtureDef();
boxShapeDef.Shape = polygon;
boxShapeDef.Density = 1.0f;
BodyDef boxBodyDef = new BodyDef();
boxBodyDef.Position.Set(Math.Random(xLo, xHi), Math.Random(yLo, yHi));
Body body3 = _world.CreateBody(boxBodyDef);
body3.CreateFixture(boxShapeDef);
// Large box (recycle definitions)
polygon.SetAsBox(2.0f, 1.0f);
boxBodyDef.Position.Set(Math.Random(xLo, xHi), Math.Random(yLo, yHi));
Body body4 = _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;
BodyDef circleBodyDef = new BodyDef();
circleBodyDef.Position.Set(Math.Random(xLo, xHi), Math.Random(yLo, yHi));
Body body5 = _world.CreateBody(circleBodyDef);
body5.CreateFixture(circleShapeDef);
// Large circle
circle._radius *= 2.0f;
circleBodyDef.Position.Set(Math.Random(xLo, xHi), Math.Random(yLo, yHi));
Body body6 = _world.CreateBody(circleBodyDef);
body6.CreateFixture(circleShapeDef);
}
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 = _world.CreateBody(bd);
ground.CreateFixture(sd);
}
// Small triangle
Vec2[] vertices = new Vec2[3];
vertices[0].Set(-1.0f, 0.0f);
vertices[1].Set(1.0f, 0.0f);
vertices[2].Set(0.0f, 2.0f);
PolygonShape polygon = new PolygonShape();
polygon.Set(vertices, 3);
FixtureDef triangleShapeDef = new FixtureDef();
triangleShapeDef.Shape = polygon;
triangleShapeDef.Density = 1.0f;
triangleShapeDef.Filter.GroupIndex = k_smallGroup;
triangleShapeDef.Filter.CategoryBits = k_triangleCategory;
triangleShapeDef.Filter.MaskBits = k_triangleMask;
BodyDef triangleBodyDef = new BodyDef();
triangleBodyDef.Position.Set(-5.0f, 2.0f);
Body body1 = _world.CreateBody(triangleBodyDef);
body1.CreateFixture(triangleShapeDef);
// Large triangle (recycle definitions)
vertices[0] *= 2.0f;
vertices[1] *= 2.0f;
vertices[2] *= 2.0f;
polygon.Set(vertices, 3);
triangleShapeDef.Filter.GroupIndex = k_largeGroup;
triangleBodyDef.Position.Set(-5.0f, 6.0f);
triangleBodyDef.FixedRotation = true; // look at me!
Body body2 = _world.CreateBody(triangleBodyDef);
body2.CreateFixture(triangleShapeDef);
// Small box
polygon.SetAsBox(1.0f, 0.5f);
FixtureDef boxShapeDef = new FixtureDef();
boxShapeDef.Shape = polygon;
boxShapeDef.Density = 1.0f;
boxShapeDef.Restitution = 0.1f;
boxShapeDef.Filter.GroupIndex = k_smallGroup;
boxShapeDef.Filter.CategoryBits = k_boxCategory;
boxShapeDef.Filter.MaskBits = k_boxMask;
BodyDef boxBodyDef = new BodyDef();
boxBodyDef.Position.Set(0.0f, 2.0f);
Body body3 = _world.CreateBody(boxBodyDef);
body3.CreateFixture(boxShapeDef);
// Large box (recycle definitions)
polygon.SetAsBox(2.0f, 1.0f);
boxShapeDef.Filter.GroupIndex = k_largeGroup;
boxBodyDef.Position.Set(0.0f, 6.0f);
Body body4 = _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.GroupIndex = k_smallGroup;
circleShapeDef.Filter.CategoryBits = k_circleCategory;
circleShapeDef.Filter.MaskBits = k_circleMask;
BodyDef circleBodyDef = new BodyDef();
circleBodyDef.Position.Set(5.0f, 2.0f);
Body body5 = _world.CreateBody(circleBodyDef);
body5.CreateFixture(circleShapeDef);
// Large circle
circle._radius *= 2.0f;
circleShapeDef.Filter.GroupIndex = k_largeGroup;
circleBodyDef.Position.Set(5.0f, 6.0f);
Body body6 = _world.CreateBody(circleBodyDef);
body6.CreateFixture(circleShapeDef);
}
public Web()
{
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = _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);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.5f, 0.5f);
BodyDef bd = new BodyDef();
bd.Position.Set(-5.0f, 5.0f);
_bodies[0] = _world.CreateBody(bd);
_bodies[0].CreateFixture(shape, 0);
bd.Position.Set(5.0f, 5.0f);
_bodies[1] = _world.CreateBody(bd);
_bodies[1].CreateFixture(shape, 0);
bd.Position.Set(5.0f, 15.0f);
_bodies[2] = _world.CreateBody(bd);
_bodies[2].CreateFixture(shape, 0);
bd.Position.Set(-5.0f, 15.0f);
_bodies[3] = _world.CreateBody(bd);
_bodies[3].CreateFixture(shape, 0);
DistanceJointDef jd = new DistanceJointDef();
Vec2 p1, p2, d;
jd.FrequencyHz = 4.0f;
jd.DampingRatio = 0.5f;
jd.Body1 = ground;
jd.Body2 = _bodies[0];
jd.LocalAnchor1.Set(-10.0f, 10.0f);
jd.LocalAnchor2.Set(-0.5f, -0.5f);
p1 = jd.Body1.GetWorldPoint(jd.LocalAnchor1);
p2 = jd.Body2.GetWorldPoint(jd.LocalAnchor2);
d = p2 - p1;
jd.Length = d.Length();
_joints[0] = _world.CreateJoint(jd);
jd.Body1 = ground;
jd.Body2 = _bodies[1];
jd.LocalAnchor1.Set(10.0f, 10.0f);
jd.LocalAnchor2.Set(0.5f, -0.5f);
p1 = jd.Body1.GetWorldPoint(jd.LocalAnchor1);
p2 = jd.Body2.GetWorldPoint(jd.LocalAnchor2);
d = p2 - p1;
jd.Length = d.Length();
_joints[1] = _world.CreateJoint(jd);
jd.Body1 = ground;
jd.Body2 = _bodies[2];
jd.LocalAnchor1.Set(10.0f, 30.0f);
jd.LocalAnchor2.Set(0.5f, 0.5f);
p1 = jd.Body1.GetWorldPoint(jd.LocalAnchor1);
p2 = jd.Body2.GetWorldPoint(jd.LocalAnchor2);
d = p2 - p1;
jd.Length = d.Length();
_joints[2] = _world.CreateJoint(jd);
jd.Body1 = ground;
jd.Body2 = _bodies[3];
jd.LocalAnchor1.Set(-10.0f, 30.0f);
jd.LocalAnchor2.Set(-0.5f, 0.5f);
p1 = jd.Body1.GetWorldPoint(jd.LocalAnchor1);
p2 = jd.Body2.GetWorldPoint(jd.LocalAnchor2);
d = p2 - p1;
jd.Length = d.Length();
_joints[3] = _world.CreateJoint(jd);
jd.Body1 = _bodies[0];
jd.Body2 = _bodies[1];
jd.LocalAnchor1.Set(0.5f, 0.0f);
jd.LocalAnchor2.Set(-0.5f, 0.0f); ;
p1 = jd.Body1.GetWorldPoint(jd.LocalAnchor1);
p2 = jd.Body2.GetWorldPoint(jd.LocalAnchor2);
d = p2 - p1;
jd.Length = d.Length();
_joints[4] = _world.CreateJoint(jd);
jd.Body1 = _bodies[1];
jd.Body2 = _bodies[2];
jd.LocalAnchor1.Set(0.0f, 0.5f);
jd.LocalAnchor2.Set(0.0f, -0.5f);
p1 = jd.Body1.GetWorldPoint(jd.LocalAnchor1);
p2 = jd.Body2.GetWorldPoint(jd.LocalAnchor2);
d = p2 - p1;
jd.Length = d.Length();
_joints[5] = _world.CreateJoint(jd);
jd.Body1 = _bodies[2];
jd.Body2 = _bodies[3];
jd.LocalAnchor1.Set(-0.5f, 0.0f);
jd.LocalAnchor2.Set(0.5f, 0.0f);
p1 = jd.Body1.GetWorldPoint(jd.LocalAnchor1);
p2 = jd.Body2.GetWorldPoint(jd.LocalAnchor2);
d = p2 - p1;
jd.Length = d.Length();
_joints[6] = _world.CreateJoint(jd);
jd.Body1 = _bodies[3];
jd.Body2 = _bodies[0];
jd.LocalAnchor1.Set(0.0f, -0.5f);
jd.LocalAnchor2.Set(0.0f, 0.5f);
p1 = jd.Body1.GetWorldPoint(jd.LocalAnchor1);
p2 = jd.Body2.GetWorldPoint(jd.LocalAnchor2);
d = p2 - p1;
jd.Length = d.Length();
_joints[7] = _world.CreateJoint(jd);
}
}
public Dominos()
{
Body b1;
{
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
BodyDef bd = new BodyDef();
b1 = _world.CreateBody(bd);
b1.CreateFixture(shape,0);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(6.0f, 0.25f);
BodyDef bd = new BodyDef();
bd.Position.Set(-1.5f, 10.0f);
Body ground = _world.CreateBody(bd);
ground.CreateFixture(shape,0);
}
{
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.Position.Set(-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, Vec2.Zero, 0.3f);
BodyDef bd = new BodyDef();
bd.Position.Set(1.0f, 6.0f);
Body ground = _world.CreateBody(bd);
ground.CreateFixture(shape,0);
}
Body b2;
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.25f, 1.5f);
BodyDef bd = new BodyDef();
bd.Position.Set(-7.0f, 4.0f);
b2 = _world.CreateBody(bd);
b2.CreateFixture(shape,0);
}
Body b3;
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(6.0f, 0.125f);
BodyDef bd = new BodyDef();
bd.Position.Set(-0.9f, 1.0f);
bd.Angle = -0.15f;
b3 = _world.CreateBody(bd);
b3.CreateFixture(shape, 10.0f);
}
RevoluteJointDef jd = new RevoluteJointDef();
Vec2 anchor = new Vec2();
anchor.Set(-2.0f, 1.0f);
jd.Initialize(b1, b3, anchor);
jd.CollideConnected = true;
_world.CreateJoint(jd);
Body b4;
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.25f, 0.25f);
BodyDef bd = new BodyDef();
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;
{
BodyDef bd = new BodyDef();
bd.Position.Set(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 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);
_world.CreateJoint(jd);
Body b6;
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(1.0f, 0.1f);
BodyDef bd = new BodyDef();
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;
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.1f, 1.0f);
BodyDef bd = new BodyDef();
bd.Position.Set(7.4f, 1.0f);
b7 = _world.CreateBody(bd);
b7.CreateFixture(shape, 10.0f);
}
DistanceJointDef djd =new DistanceJointDef();
djd.Body1 = b3;
djd.Body2 = b7;
djd.LocalAnchor1.Set(6.0f, 0.0f);
djd.LocalAnchor2.Set(0.0f, -1.0f);
Vec2 d = djd.Body2.GetWorldPoint(djd.LocalAnchor2) - djd.Body1.GetWorldPoint(djd.LocalAnchor1);
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.Position.Set(5.9f + 2.0f * radius * i, 2.4f);
Body body = _world.CreateBody(bd);
body.CreateFixture(shape, 10.0f);
}
}
}
public CCDTest()
{
#if true
{
//TODO: only one shape is created here instead of two. That is because
//they are reference types and when shape is changed, it changes the original instead of a new copy.
PolygonShape shape = new PolygonShape();
shape.SetAsBox(10.0f, 0.2f);
FixtureDef fd = new FixtureDef();
fd.Shape = shape;
fd.Density = 0.0f;
BodyDef bd = new BodyDef();
bd.Position.Set(0.0f, -0.2f);
Body body = _world.CreateBody(bd);
body.CreateFixture(fd);
shape.SetAsBox(0.2f, 1.0f, new Vec2(0.5f, 1.2f), 0.0f);
body.CreateFixture(fd);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(2.0f, 0.1f);
FixtureDef fd = new FixtureDef();
fd.Shape = shape;
fd.Density = 1.0f;
fd.Restitution = 0.0f;
_angularVelocity = Math.Random(-50.0f, 50.0f);
_angularVelocity = -30.669577f;
BodyDef bd = new BodyDef();
bd.Position.Set(0.0f, 20.0f);
Body body = _world.CreateBody(bd);
body.CreateFixture(fd);
body.SetLinearVelocity(new Vec2(0.0f, -100.0f));
body.SetAngularVelocity(_angularVelocity);
}
#elif false
{
FixtureDef fd;
fd.SetAsBox(10.0f, 0.1f);
fd.density = 0.0f;
BodyDef bd;
bd.type = BodyDef::e_static;
bd.position.Set(0.0f, -0.2f);
Body* ground = m_world.CreateBody(&bd);
ground.CreateFixture(&fd);
}
{
FixtureDef fd;
fd.SetAsBox(2.0f, 0.1f);
fd.density = 1.0f;
fd.restitution = 0.0f;
BodyDef bd1;
bd1.type = BodyDef::e_dynamic;
bd1.isBullet = true;
bd1.allowSleep = false;
bd1.position.Set(0.0f, 20.0f);
Body* b1 = m_world.Create(&bd1);
b1.CreateFixture(&fd);
b1.SetMassFromShapes();
b1.SetLinearVelocity(Vec2(0.0f, -100.0f));
fd.SetAsBox(1.0f, 0.1f);
BodyDef bd2;
bd2.type = BodyDef::e_dynamic;
bd2.isBullet = true;
bd2.allowSleep = false;
bd2.position.Set(0.0f, 20.2f);
Body* = m_world.Create(&bd2);
.CreateFixture(&fd);
.SetMassFromShapes();
.SetLinearVelocity(Vec2(0.0f, -100.0f));
fd.SetAsBox(0.25f, 0.25f);
fd.density = 10.0f;
BodyDef bd3;
bd3.type = BodyDef::e_dynamic;
bd3.isBullet = true;
bd3.allowSleep = false;
bd3.position.Set(0.0f, 100.0f);
Body* b3 = m_world.Create(&bd3);
b3.CreateFixture(&fd);
b3.SetMassFromShapes();
b3.SetLinearVelocity(Vec2(0.0f, -150.0f));
}
#else
const float32 k_restitution = 1.4f;
{
BodyDef bd;
bd.position.Set(0.0f, 20.0f);
Body* body = m_world.CreateBody(&bd);
FixtureDef fd;
fd.density = 0.0f;
fd.restitution = k_restitution;
fd.SetAsBox(0.1f, 10.0f, Vec2(-10.0f, 0.0f), 0.0f);
body.CreateFixture(&fd);
fd.SetAsBox(0.1f, 10.0f, Vec2(10.0f, 0.0f), 0.0f);
body.CreateFixture(&fd);
fd.SetAsBox(0.1f, 10.0f, Vec2(0.0f, -10.0f), 0.5f * _pi);
body.CreateFixture(&fd);
fd.SetAsBox(0.1f, 10.0f, Vec2(0.0f, 10.0f), -0.5f * _pi);
body.CreateFixture(&fd);
}
#if false
{
FixtureDef sd_bottom;
sd_bottom.SetAsBox(1.0f, 0.1f, Vec2(0.0f, -1.0f), 0.0f);
sd_bottom.density = 4.0f;
FixtureDef sd_top;
sd_top.SetAsBox(1.0f, 0.1f, Vec2(0.0f, 1.0f), 0.0f);
sd_top.density = 4.0f;
FixtureDef sd_left;
sd_left.SetAsBox(0.1f, 1.0f, Vec2(-1.0f, 0.0f), 0.0f);
sd_left.density = 4.0f;
FixtureDef sd_right;
sd_right.SetAsBox(0.1f, 1.0f, Vec2(1.0f, 0.0f), 0.0f);
sd_right.density = 4.0f;
BodyDef bd;
bd.type = BodyDef::e_dynamicBody;
bd.position.Set(0.0f, 15.0f);
Body* body = m_world.CreateBody(&bd);
body.CreateFixture(&sd_bottom);
body.CreateFixture(&sd_top);
body.CreateFixture(&sd_left);
body.CreateFixture(&sd_right);
body.SetMassFromShapes();
}
#elif false
{
FixtureDef sd_bottom;
sd_bottom.SetAsBox( 1.5f, 0.15f );
sd_bottom.density = 4.0f;
FixtureDef sd_left;
sd_left.SetAsBox(0.15f, 2.7f, Vec2(-1.45f, 2.35f), 0.2f);
sd_left.density = 4.0f;
FixtureDef sd_right;
sd_right.SetAsBox(0.15f, 2.7f, Vec2(1.45f, 2.35f), -0.2f);
sd_right.density = 4.0f;
BodyDef bd;
bd.position.Set( 0.0f, 15.0f );
Body* body = m_world.CreateBody(&bd);
body.CreateFixture(&sd_bottom);
body.CreateFixture(&sd_left);
body.CreateFixture(&sd_right);
body.SetMassFromShapes();
}
#else
{
BodyDef bd;
bd.position.Set(-5.0f, 20.0f);
bd.isBullet = true;
Body* body = m_world.CreateBody(&bd);
body.SetAngularVelocity(RandomFloat(-50.0f, 50.0f));
FixtureDef fd;
fd.SetAsBox(0.1f, 4.0f);
fd.density = 1.0f;
fd.restitution = 0.0f;
body.CreateFixture(&fd);
body.SetMassFromShapes();
}
#endif
for (int32 i = 0; i < 0; ++i)
{
BodyDef bd;
bd.position.Set(0.0f, 15.0f + i);
bd.isBullet = true;
Body* body = m_world.CreateBody(&bd);
body.SetAngularVelocity(RandomFloat(-50.0f, 50.0f));
FixtureDef fd;
fd.radius = 0.25f;
fd.density = 1.0f;
fd.restitution = 0.0f;
body.CreateFixture(&fd);
body.SetMassFromShapes();
}
#endif
}
public VaryingFriction()
{
{
BodyDef bd = new BodyDef();
Body ground = _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);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(13.0f, 0.25f);
BodyDef bd = new BodyDef();
bd.Position.Set(-4.0f, 22.0f);
bd.Angle = -0.25f;
Body ground = _world.CreateBody(bd);
ground.CreateFixture(shape, 0);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.25f, 1.0f);
BodyDef bd = new BodyDef();
bd.Position.Set(10.5f, 19.0f);
Body ground = _world.CreateBody(bd);
ground.CreateFixture(shape, 0);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(13.0f, 0.25f);
BodyDef bd = new BodyDef();
bd.Position.Set(4.0f, 14.0f);
bd.Angle = 0.25f;
Body ground = _world.CreateBody(bd);
ground.CreateFixture(shape, 0);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.25f, 1.0f);
BodyDef bd = new BodyDef();
bd.Position.Set(-10.5f, 11.0f);
Body ground = _world.CreateBody(bd);
ground.CreateFixture(shape, 0);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(13.0f, 0.25f);
BodyDef bd = new BodyDef();
bd.Position.Set(-4.0f, 6.0f);
bd.Angle = -0.25f;
Body ground = _world.CreateBody(bd);
ground.CreateFixture(shape, 0);
}
{
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.Position.Set(-15.0f + 4.0f * i, 28.0f);
Body body = _world.CreateBody(bd);
fd.Friction = friction[i];
body.CreateFixture(fd);
}
}
}
public Bridge()
{
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = _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);
}
{
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();
const int numPlanks = 30;
Body prevBody = ground;
for (int i = 0; i < _count; ++i)
{
BodyDef bd = new BodyDef();
bd.Position.Set(-14.5f + 1.0f * i, 5.0f);
Body body = _world.CreateBody(bd);
body.CreateFixture(fd);
Vec2 anchor = new Vec2(-15.0f + 1.0f * i, 5.0f);
jd.Initialize(prevBody, body, anchor);
_world.CreateJoint(jd);
if (i == (_count >> 1))
{
_middle = body;
}
prevBody = body;
}
Vec2 anchor2 = new Vec2(-15.0f + 1.0f * _count, 5.0f);
jd.Initialize(prevBody, ground, anchor2);
_world.CreateJoint(jd);
}
for (int i = 0; i < 2; ++i)
{
Vec2[] vertices = new Vec2[3];
vertices[0].Set(-0.5f, 0.0f);
vertices[1].Set(0.5f, 0.0f);
vertices[2].Set(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.Position.Set(-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.Position.Set(-6.0f + 6.0f * i, 10.0f);
Body body = _world.CreateBody(bd);
body.CreateFixture(fd);
}
}
public SliderCrank()
{
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = _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);
}
{
Body prevBody = ground;
// Define crank.
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.5f, 2.0f);
BodyDef bd = new BodyDef();
bd.Position.Set(0.0f, 7.0f);
Body body = _world.CreateBody(bd);
body.CreateFixture(shape, 2.0f);
RevoluteJointDef rjd = new RevoluteJointDef();
rjd.Initialize(prevBody, body, new Vec2(0.0f, 5.0f));
rjd.MotorSpeed = 1.0f * Box2DX.Common.Settings.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.Position.Set(0.0f, 13.0f);
Body body = _world.CreateBody(bd);
body.CreateFixture(shape, 2.0f);
RevoluteJointDef rjd = new RevoluteJointDef();
rjd.Initialize(prevBody, body, new Vec2(0.0f, 9.0f));
rjd.EnableMotor = false;
_world.CreateJoint(rjd);
prevBody = body;
}
// Define piston
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(1.5f, 1.5f);
BodyDef bd = new BodyDef();
bd.Position.Set(0.0f, 17.0f);
Body body = _world.CreateBody(bd);
body.CreateFixture(shape, 2.0f);
RevoluteJointDef rjd = new RevoluteJointDef();
rjd.Initialize(prevBody, body, new Vec2(0.0f, 17.0f));
_world.CreateJoint(rjd);
PrismaticJointDef pjd = new PrismaticJointDef();
pjd.Initialize(ground, body, new Vec2(0.0f, 17.0f), new Vec2(0.0f, 1.0f));
pjd.MaxMotorForce = 1000.0f;
pjd.EnableMotor = true;
_joint2 = (PrismaticJoint)_world.CreateJoint(pjd);
}
// Create a payload
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(1.5f, 1.5f);
BodyDef bd = new BodyDef();
bd.Position.Set(0.0f, 23.0f);
Body body = _world.CreateBody(bd);
body.CreateFixture(shape, 2.0f);
}
}
}
public Gears()
{
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = _world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vec2(50.0f, 0.0f), new Vec2(-50.0f, 0.0f));
ground.CreateFixture(shape, 0);
}
{
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.Position.Set(-3.0f, 12.0f);
Body body1 = _world.CreateBody(bd1);
body1.CreateFixture(circle1, 5.0f);
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, 5.0f);
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, 5.0f);
PrismaticJointDef jd3 = new PrismaticJointDef();
jd3.Initialize(ground, body3, bd3.Position, new Vec2(0.0f, 1.0f));
jd3.LowerTranslation = -5.0f;
jd3.UpperTranslation = 5.0f;
jd3.EnableLimit = true;
_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 TheoJansen()
{
_offset.Set(0.0f, 8.0f);
_motorSpeed = 2.0f;
_motorOn = true;
Vec2 pivot = new Vec2(0.0f, 0.8f);
// Ground
{
BodyDef bd = new BodyDef();
Body ground = _world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vec2(-50.0f, 0.0f), new Vec2(50.0f, 0.0f));
ground.CreateFixture(shape, 0);
shape.SetAsEdge(new Vec2(-50.0f, 0.0f), new Vec2(-50.0f, 10.0f));
ground.CreateFixture(shape, 0);
shape.SetAsEdge(new Vec2(50.0f, 0.0f), new Vec2(50.0f, 10.0f));
ground.CreateFixture(shape, 0);
}
// Balls
for (int i = 0; i < 40; ++i)
{
CircleShape shape = new CircleShape();
shape._radius = 0.25f;
BodyDef bd = new BodyDef();
bd.Position.Set(-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.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.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);
}
Vec2 wheelAnchor;
wheelAnchor = pivot + new Vec2(0.0f, -0.8f);
CreateLeg(-1.0f, wheelAnchor);
CreateLeg(1.0f, wheelAnchor);
_wheel.SetTransform(_wheel.GetPosition(), 120.0f * Box2DX.Common.Settings.PI / 180.0f);
CreateLeg(-1.0f, wheelAnchor);
CreateLeg(1.0f, wheelAnchor);
_wheel.SetTransform(_wheel.GetPosition(), -120.0f * Box2DX.Common.Settings.PI / 180.0f);
CreateLeg(-1.0f, wheelAnchor);
CreateLeg(1.0f, wheelAnchor);
}
public CompoundShapes()
{
{
BodyDef bd = new BodyDef();
bd.Position.Set(0.0f, 0.0f);
Body body = _world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vec2(50.0f, 0.0f), new Vec2(-50.0f, 0.0f));
body.CreateFixture(shape, 0);
}
{
CircleShape circle1 = new CircleShape();
circle1._radius = 0.5f;
circle1._p.Set(-0.5f, 0.5f);
CircleShape circle2 = new CircleShape();
circle2._radius = 0.5f;
circle2._p.Set(0.5f, 0.5f);
for (int i = 0; i < 10; ++i)
{
float x = Math.Random(-0.1f, 0.1f);
BodyDef bd = new BodyDef();
bd.Position.Set(x + 5.0f, 1.05f + 2.5f * i);
bd.Angle = Math.Random(-Box2DX.Common.Settings.PI, Box2DX.Common.Settings.PI);
Body body = _world.CreateBody(bd);
body.CreateFixture(circle1, 2.0f);
body.CreateFixture(circle2, 0);
}
}
{
PolygonShape polygon1 = new PolygonShape();
polygon1.SetAsBox(0.25f, 0.5f);
PolygonShape polygon2 = new PolygonShape();
polygon2.SetAsBox(0.25f, 0.5f, new Vec2(0.0f, -0.5f), 0.5f * Box2DX.Common.Settings.PI);
for (int i = 0; i < 10; ++i)
{
float x = Math.Random(-0.1f, 0.1f);
BodyDef bd = new BodyDef();
bd.Position.Set(x - 5.0f, 1.05f + 2.5f * i);
bd.Angle = Math.Random(-Box2DX.Common.Settings.PI, Box2DX.Common.Settings.PI);
Body body = _world.CreateBody(bd);
body.CreateFixture(polygon1, 2.0f);
body.CreateFixture(polygon2, 2.0f);
}
}
{
Transform xf1 = new Transform();
xf1.R.Set(0.3524f * Box2DX.Common.Settings.PI);
xf1.Position = Math.Mul(xf1.R, new Vec2(1.0f, 0.0f));
Vec2[] vertices = new Vec2[3];
PolygonShape triangle1 = new PolygonShape();
vertices[0] = Math.Mul(xf1, new Vec2(-1.0f, 0.0f));
vertices[1] = Math.Mul(xf1, new Vec2(1.0f, 0.0f));
vertices[2] = Math.Mul(xf1, new Vec2(0.0f, 0.5f));
triangle1.Set(vertices, 3);
Transform xf2 = new Transform();
xf2.R.Set(-0.3524f * Box2DX.Common.Settings.PI);
xf2.Position = Math.Mul(xf2.R, new Vec2(-1.0f, 0.0f));
PolygonShape triangle2 = new PolygonShape();
vertices[0] = Math.Mul(xf2, new Vec2(-1.0f, 0.0f));
vertices[1] = Math.Mul(xf2, new Vec2(1.0f, 0.0f));
vertices[2] = Math.Mul(xf2, new Vec2(0.0f, 0.5f));
triangle2.Set(vertices, 3);
for (int i = 0; i < 10; ++i)
{
float x = Math.Random(-0.1f, 0.1f);
BodyDef bd = new BodyDef();
bd.Position.Set(x, 2.05f + 2.5f * i);
bd.Angle = 0.0f;
Body body = _world.CreateBody(bd);
body.CreateFixture(triangle1, 2.0f);
body.CreateFixture(triangle2, 2.0f);
}
}
{
PolygonShape bottom = new PolygonShape();
bottom.SetAsBox(1.5f, 0.15f);
PolygonShape left = new PolygonShape();
left.SetAsBox(0.15f, 2.7f, new Vec2(-1.45f, 2.35f), 0.2f);
PolygonShape right = new PolygonShape();
right.SetAsBox(0.15f, 2.7f, new Vec2(1.45f, 2.35f), -0.2f);
BodyDef bd = new BodyDef();
bd.Position.Set(0.0f, 2.0f);
Body body = _world.CreateBody(bd);
body.CreateFixture(bottom, 4.0f);
body.CreateFixture(left, 4.0f);
body.CreateFixture(right, 4.0f);
}
}
