Esempio n. 1
0
		public DistanceTest()
		{
			PolygonDef sd = new PolygonDef();
			sd.SetAsBox(1.0f, 1.0f);
			sd.Density = 0.0f;

			BodyDef bd = new BodyDef();
			bd.Position.Set(0.0f, 10.0f);
			_body1 = _world.CreateBody(bd);
			_shape1 = _body1.CreateShape(sd);

			PolygonDef sd2 = new PolygonDef();
			sd2.VertexCount = 3;
			sd2.Vertices[0].Set(-1.0f, 0.0f);
			sd2.Vertices[1].Set(1.0f, 0.0f);
			sd2.Vertices[2].Set(0.0f, 15.0f);
			sd2.Density = 1.0f;

			BodyDef bd2 = new BodyDef();

			bd2.Position.Set(0.0f, 10.0f);

			_body2 = _world.CreateBody(bd2);
			_shape2 = _body2.CreateShape(sd2);
			_body2.SetMassFromShapes();

			_world.Gravity = new Vec2(0.0f, 0.0f);
		}
Esempio n. 2
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		public PolyCollision()
		{
			_localPoints[0].state = ContactState.ContactRemoved;
			_localPoints[1].state = ContactState.ContactRemoved;

			{
				PolygonDef sd = new PolygonDef();
				sd.Vertices[0].Set(-9.0f, -1.1f);
				sd.Vertices[1].Set(7.0f, -1.1f);
				sd.Vertices[2].Set(5.0f, -0.9f);
				sd.Vertices[3].Set(-11.0f, -0.9f);
				sd.VertexCount = 4;
				sd.Density = 0.0f;

				BodyDef bd = new BodyDef();
				bd.Position.Set(0.0f, 10.0f);
				_body1 = _world.CreateBody(bd);
				_body1.CreateShape(sd);
			}

			{
				PolygonDef sd = new PolygonDef();
				sd.SetAsBox(0.5f, 0.5f);
				sd.Density = 1.0f;

				BodyDef bd = new BodyDef();
				bd.Position.Set(0.0f, 10.0f);
				_body2 = _world.CreateBody(bd);
				_body2.CreateShape(sd);
				_body2.SetMassFromShapes();
			}

			_world.Gravity = Vec2.Zero;
		}
Esempio n. 3
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		public ShapeEditing()
		{
			{
				PolygonDef sd = new PolygonDef();
				sd.SetAsBox(50.0f, 10.0f);

				BodyDef bd = new BodyDef();
				bd.Position.Set(0.0f, -10.0f);

				Body ground = _world.CreateBody(bd);
				ground.CreateShape(sd);
			}

			BodyDef bodydef = new BodyDef();
			bodydef.Position.Set(0.0f, 10.0f);
			_body = _world.CreateBody(bodydef);

			PolygonDef sd_ = new PolygonDef();
			sd_.SetAsBox(4.0f, 4.0f, new Vec2(0.0f, 0.0f), 0.0f);
			sd_.Density = 10.0f;
			_shape1 = _body.CreateShape(sd_);
			_body.SetMassFromShapes();

			_shape2 = null;
		}
Esempio n. 4
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		public TimeOfImpact()
		{
			{
				PolygonDef sd = new PolygonDef();
				sd.Density = 0.0f;

				sd.SetAsBox(0.1f, 10.0f, new Vec2(10.0f, 0.0f), 0.0f);

				BodyDef bd = new BodyDef();
				bd.Position.Set(0.0f, 20.0f);
				bd.Angle = 0.0f;
				_body1 = _world.CreateBody(bd);
				_shape1 = _body1.CreateShape(sd);
			}

			{
				PolygonDef sd = new PolygonDef();
				sd.SetAsBox(0.25f, 0.25f);
				sd.Density = 1.0f;

				BodyDef bd = new BodyDef();
				bd.Position.Set(9.6363468f, 28.050615f);
				bd.Angle = 1.6408679f;
				_body2 = _world.CreateBody(bd);
				_shape2 = (PolygonShape)_body2.CreateShape(sd);
				_body2.SetMassFromShapes();
			}
		}
Esempio n. 5
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		public RaycastTest()
		{
			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.CreateShape(sd);
			}

			{
				BodyDef bd = new BodyDef();
				bd.Position.Set(0.0f, 1.0f);
				laserBody = _world.CreateBody(bd);

				PolygonDef sd = new PolygonDef();
				sd.SetAsBox(5.0f, 1.0f);
				sd.Density = 4.0f;
				laserBody.CreateShape(sd);
				laserBody.SetMassFromShapes();

				Body body;
				//Create a few shapes
				bd.Position.Set(-5.0f, 10.0f);
				body = _world.CreateBody(bd);

				CircleDef cd = new CircleDef();
				cd.Radius = 3;
				body.CreateShape(cd);

				bd.Position.Set(5.0f, 10.0f);
				body = _world.CreateBody(bd);

				body.CreateShape(cd);
			}
		}
        /// <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);

        // ==== Define walker torso.
            BodyDef torsoBodyDef = new BodyDef();
            torsoBodyDef.Position.Set(0f, 1.45f);
            torsoBodyDef.IsBullet = true;

            // Create walker torso.
            _torsoBody = _world.CreateBody(torsoBodyDef);
            PolygonDef torsoShapeDef = new PolygonDef();
            torsoShapeDef.SetAsBox(0.10f, 0.45f);
            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(0f, 1.05f);
            Vec2 lowerLegPosBase = new Vec2(0f, 0.55f);

        // ===== 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 void AddToWorld()
        {
            body = world.CreateBody(bodyDef);
            foreach (ShapeDef shape in shapes)
                body.CreateShape(shape);
            body.SetMassFromShapes();
            body.SetUserData(this);

            foreach (Controller controller in controllers)
            {
                controller.AddBody(body);
                world.AddController(controller);
            }

            foreach (PhysicsObject child in children)
                child.AddToWorld();
        }
Esempio n. 8
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        protected override void LoadContent()
        {
            poligonDef = new PolygonDef();

            poligonDef.VertexCount = CollisionBody.Length;

            poligonDef.Vertices = CollisionBody;

            poligonDef.Density = 2000f;

            poligonDef.Friction = 100f;

            BodyDef bodyDef = new BodyDef();

            bodyDef.Position = new Vec2(Position.X, Position.Y);

            Body = Game1.world.CreateBody(bodyDef);

            PolygonShape shape = (PolygonShape)Body.CreateShape(poligonDef);

            Body.SetMassFromShapes();

            base.LoadContent();
        }
Esempio n. 9
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		// Main...
		public ElasticBody()
		{
			// Bottom static body
			{
				PolygonDef sd = new PolygonDef();
				sd.SetAsBox(50.0f, 2.0f);
				sd.Friction = 0.1f;
				sd.Restitution = 0.1f;
				BodyDef bd = new BodyDef();
				bd.Position.Set(-1.0f, -7.5f);
				_ground = _world.CreateBody(bd);
				_ground.CreateShape(sd);
			}
			// Upper static body
			{
				PolygonDef sd = new PolygonDef();
				sd.SetAsBox(20.0f, 0.50f, new Vec2(0.0f, 0.0f), 0.047f * Box2DX.Common.Settings.Pi);
				sd.Friction = 0.01f;
				sd.Restitution = 0.001f;
				BodyDef bd = new BodyDef();
				bd.Position.Set(-20.0f, 93.0f);
				Body g = _world.CreateBody(bd);
				g.CreateShape(sd);
				sd.SetAsBox(15.0f, 0.50f, new Vec2(-15.0f, 12.5f), 0.0f);
				g.CreateShape(sd);

				sd.SetAsBox(20.0f, 0.5f, new Vec2(0.0f, -25.0f), -0.5f);
				g.CreateShape(sd);
			}
			// Left channel left wall
			{
				PolygonDef sd = new PolygonDef();
				sd.SetAsBox(0.7f, 55.0f);
				sd.Friction = 0.1f;
				sd.Restitution = 0.1f;
				BodyDef bd = new BodyDef();
				bd.Position.Set(-49.3f, 50.0f);
				Body g = _world.CreateBody(bd);
				g.CreateShape(sd);
			}
			// Right wall
			{
				PolygonDef sd = new PolygonDef();
				sd.SetAsBox(0.7f, 55.0f);
				sd.Friction = 0.1f;
				sd.Restitution = 0.1f;
				BodyDef bd = new BodyDef();
				bd.Position.Set(45.0f, 50.0f);
				Body g = _world.CreateBody(bd);
				g.CreateShape(sd);
			}
			// Left channel right upper wall  
			{
				PolygonDef sd = new PolygonDef();
				sd.SetAsBox(0.5f, 20.0f);
				sd.Friction = 0.05f;
				sd.Restitution = 0.01f;
				BodyDef bd = new BodyDef();
				bd.Position.Set(-42.0f, 70.0f);
				bd.Angle = -0.03f * Box2DX.Common.Settings.Pi;
				Body g = _world.CreateBody(bd);
				g.CreateShape(sd);
			}
			// Left channel right lower wall
			{
				PolygonDef sd = new PolygonDef();
				sd.SetAsBox(0.50f, 23.0f);
				sd.Friction = 0.05f;
				sd.Restitution = 0.01f;
				BodyDef bd = new BodyDef();
				bd.Position.Set(-44.0f, 27.0f);
				Body g = _world.CreateBody(bd);
				g.CreateShape(sd);
				// Bottom motors
				CircleDef cd = new CircleDef();
				cd.Radius = 3.0f;
				cd.Density = 15.0f;
				cd.Friction = 1.0f;
				cd.Restitution = 0.2f;
				// 1. 
				bd.Position.Set(-40.0f, 2.5f);
				Body body = _world.CreateBody(bd);
				body.CreateShape(cd);
				body.SetMassFromShapes();
				RevoluteJointDef jr = new RevoluteJointDef();
				jr.Initialize(g, body, body.GetWorldCenter() + new Vec2(0.0f, 1.0f));
				jr.MaxMotorTorque = 30000.0f;
				jr.EnableMotor = true;
				jr.MotorSpeed = 20.0f;
				_world.CreateJoint(jr);
				// 1. left down
				bd.Position.Set(-46.0f, -2.5f);
				cd.Radius = 1.5f; jr.MotorSpeed = -20.0f;
				body = _world.CreateBody(bd);
				body.CreateShape(cd);
				sd.SetAsBox(2.0f, 0.50f);
				body.CreateShape(sd);
				body.SetMassFromShapes();
				jr.Initialize(g, body, body.GetWorldCenter());
				_world.CreateJoint(jr);
				// 2.
				cd.Radius = 3.0f; jr.MotorSpeed = 20.0f;
				bd.Position.Set(-32.0f, 2.5f);
				body = _world.CreateBody(bd);
				body.CreateShape(cd);
				body.SetMassFromShapes();
				jr.Initialize(g, body, body.GetWorldCenter() + new Vec2(0.0f, 1.0f));
				_world.CreateJoint(jr);
				// 3.
				jr.MotorSpeed = 20.0f;
				bd.Position.Set(-24.0f, 1.5f);
				body = _world.CreateBody(bd);
				body.CreateShape(cd);
				body.SetMassFromShapes();
				jr.Initialize(g, body, body.GetWorldCenter() + new Vec2(0.0f, 1.0f));
				_world.CreateJoint(jr);
				// 4.
				bd.Position.Set(-16.0f, 0.8f);
				body = _world.CreateBody(bd);
				body.CreateShape(cd);
				body.SetMassFromShapes();
				jr.Initialize(g, body, body.GetWorldCenter() + new Vec2(0.0f, 1.0f));
				_world.CreateJoint(jr);
				// 5.
				bd.Position.Set(-8.0f, 0.5f);
				body = _world.CreateBody(bd);
				body.CreateShape(cd);
				body.SetMassFromShapes();
				jr.Initialize(g, body, body.GetWorldCenter() + new Vec2(0.0f, 1.0f));
				_world.CreateJoint(jr);
				// 6.
				bd.Position.Set(0.0f, 0.1f);
				body = _world.CreateBody(bd);
				body.CreateShape(cd);
				body.SetMassFromShapes();
				jr.Initialize(g, body, body.GetWorldCenter() + new Vec2(0.0f, 1.0f));
				_world.CreateJoint(jr);
				// 7.
				bd.Position.Set(8.0f, -0.5f);
				body = _world.CreateBody(bd);
				body.CreateShape(cd);
				sd.SetAsBox(3.7f, 0.5f);
				body.CreateShape(sd);
				body.SetMassFromShapes();
				jr.Initialize(g, body, body.GetWorldCenter() + new Vec2(0.0f, 1.0f));
				_world.CreateJoint(jr);
				// 8. right rotator
				sd.SetAsBox(5.0f, 0.5f);
				sd.Density = 2.0f;
				bd.Position.Set(18.0f, 1.0f);
				Body rightmotor = _world.CreateBody(bd);
				rightmotor.CreateShape(sd);
				sd.SetAsBox(4.5f, 0.5f, new Vec2(0.0f, 0.0f), Box2DX.Common.Settings.Pi / 3.0f);
				rightmotor.CreateShape(sd);
				sd.SetAsBox(4.5f, 0.5f, new Vec2(0.0f, 0.0f), Box2DX.Common.Settings.Pi * 2.0f / 3.0f);
				rightmotor.CreateShape(sd);
				cd.Radius = 4.2f;
				rightmotor.CreateShape(cd);
				rightmotor.SetMassFromShapes();
				jr.Initialize(g, rightmotor, rightmotor.GetWorldCenter());
				jr.MaxMotorTorque = 70000.0f;
				jr.MotorSpeed = -4.0f;
				_world.CreateJoint(jr);
				// 9. left rotator
				sd.SetAsBox(8.5f, 0.5f);
				sd.Density = 2.0f;
				bd.Position.Set(-34.0f, 17.0f);
				body = _world.CreateBody(bd);
				body.CreateShape(sd);
				sd.SetAsBox(8.5f, 0.5f, new Vec2(0.0f, 0.0f), Box2DX.Common.Settings.Pi * .5f);
				body.CreateShape(sd);
				cd.Radius = 7.0f;
				cd.Friction = 0.9f;
				body.CreateShape(cd);
				body.SetMassFromShapes();
				jr.Initialize(g, body, body.GetWorldCenter());
				jr.MaxMotorTorque = 100000.0f;
				jr.MotorSpeed = -5.0f;
				_world.CreateJoint(jr);
				// big compressor
				sd.SetAsBox(3.0f, 4.0f);
				sd.Density = 10.0f;
				bd.Position.Set(-16.0f, 17.0f);
				Body hammerleft = _world.CreateBody(bd);
				hammerleft.CreateShape(sd);
				hammerleft.SetMassFromShapes();
				DistanceJointDef jd = new DistanceJointDef();
				jd.Initialize(body, hammerleft, body.GetWorldCenter() + new Vec2(0.0f, 6.0f), hammerleft.GetWorldCenter());
				_world.CreateJoint(jd);

				bd.Position.Set(4.0f, 17.0f);
				Body hammerright = _world.CreateBody(bd);
				hammerright.CreateShape(sd);
				hammerright.SetMassFromShapes();
				jd.Initialize(body, hammerright, body.GetWorldCenter() - new Vec2(0.0f, 6.0f), hammerright.GetWorldCenter());
				_world.CreateJoint(jd);
				// pusher
				sd.SetAsBox(6.0f, 0.75f);
				bd.Position.Set(-21.0f, 9.0f);
				Body pusher = _world.CreateBody(bd);
				pusher.CreateShape(sd);
				sd.SetAsBox(2.0f, 1.5f, new Vec2(-5.0f, 0.0f), 0.0f);
				pusher.SetMassFromShapes();
				pusher.CreateShape(sd);
				jd.Initialize(rightmotor, pusher, rightmotor.GetWorldCenter() + new Vec2(-8.0f, 0.0f),
							  pusher.GetWorldCenter() + new Vec2(5.0f, 0.0f));
				_world.CreateJoint(jd);
			}
			// Static bodies above motors
			{
				PolygonDef sd = new PolygonDef();
				CircleDef cd = new CircleDef();
				sd.SetAsBox(9.0f, 0.5f);
				sd.Friction = 0.05f;
				sd.Restitution = 0.01f;
				BodyDef bd = new BodyDef();
				bd.Position.Set(-15.5f, 12.0f);
				bd.Angle = 0.0f;
				Body g = _world.CreateBody(bd);
				g.CreateShape(sd);

				sd.SetAsBox(8.0f, 0.5f, new Vec2(23.0f, 0.0f), 0.0f);
				g.CreateShape(sd);
				// compressor statics  
				sd.SetAsBox(7.0f, 0.5f, new Vec2(-2.0f, 9.0f), 0.0f);
				g.CreateShape(sd);
				sd.SetAsBox(9.0f, 0.5f, new Vec2(22.0f, 9.0f), 0.0f);
				g.CreateShape(sd);

				sd.SetAsBox(19.0f, 0.5f, new Vec2(-9.0f, 15.0f), -0.05f);
				g.CreateShape(sd);
				sd.SetAsBox(4.7f, 0.5f, new Vec2(15.0f, 11.5f), -0.5f);
				g.CreateShape(sd);
				// below compressor
				sd.SetAsBox(26.0f, 0.3f, new Vec2(17.0f, -4.4f), -0.02f);
				g.CreateShape(sd);
				cd.Radius = 1.0f; cd.Friction = 1.0f;
				cd.LocalPosition = new Vec2(29.0f, -6.0f);
				g.CreateShape(cd);
				cd.Radius = 0.7f;
				cd.LocalPosition = new Vec2(-2.0f, -4.5f);
				g.CreateShape(cd);
			}
			// Elevator
			{
				BodyDef bd = new BodyDef();
				CircleDef cd = new CircleDef();
				PolygonDef sd = new PolygonDef();

				bd.Position.Set(40.0f, 4.0f);
				_elev = _world.CreateBody(bd);

				sd.SetAsBox(0.5f, 2.5f, new Vec2(3.0f, -3.0f), 0.0f);
				sd.Density = 1.0f;
				sd.Friction = 0.01f;
				_elev.CreateShape(sd);
				sd.SetAsBox(7.0f, 0.5f, new Vec2(-3.5f, -5.5f), 0.0f);
				_elev.CreateShape(sd);
				sd.SetAsBox(0.5f, 2.5f, new Vec2(-11.0f, -3.5f), 0.0f);
				_elev.CreateShape(sd);
				_elev.SetMassFromShapes();

				PrismaticJointDef jp = new PrismaticJointDef();
				jp.Initialize(_ground, _elev, bd.Position, new Vec2(0.0f, 1.0f));
				jp.LowerTranslation = 0.0f;
				jp.UpperTranslation = 100.0f;
				jp.EnableLimit = true;
				jp.EnableMotor = true;
				jp.MaxMotorForce = 10000.0f;
				jp.MotorSpeed = 0.0f;
				_joint_elev = (PrismaticJoint)_world.CreateJoint(jp);

				// Korb
				sd.SetAsBox(2.3f, 0.5f, new Vec2(1.0f, 0.0f), 0.0f);
				sd.Density = 0.5f;
				bd.Position.Set(29.0f, 6.5f);
				Body body = _world.CreateBody(bd);
				body.CreateShape(sd);
				sd.SetAsBox(2.5f, 0.5f, new Vec2(3.0f, -2.0f), Box2DX.Common.Settings.Pi / 2.0f);
				body.CreateShape(sd);
				sd.SetAsBox(4.6f, 0.5f, new Vec2(7.8f, -4.0f), 0.0f);
				body.CreateShape(sd);
				sd.SetAsBox(0.5f, 4.5f, new Vec2(12.0f, 0.0f), 0.0f);
				body.CreateShape(sd);

				sd.SetAsBox(0.5f, 0.5f, new Vec2(13.0f, 4.0f), 0.0f);
				body.CreateShape(sd);

				cd.Radius = 0.7f; cd.Density = 1.0f; cd.Friction = 0.01f;
				cd.LocalPosition = new Vec2(0.0f, 0.0f);
				body.CreateShape(cd);
				body.SetMassFromShapes();

				RevoluteJointDef jr = new RevoluteJointDef();
				jr.Initialize(_elev, body, bd.Position);
				jr.EnableLimit = true;
				jr.LowerAngle = -0.2f;
				jr.UpperAngle = Box2DX.Common.Settings.Pi * 1.1f;
				jr.CollideConnected = true;
				_world.CreateJoint(jr);
				// upper body exit
				sd.SetAsBox(14.0f, 0.5f, new Vec2(-3.5f, -10.0f), 0.0f);
				bd.Position.Set(17.5f, 96.0f);
				body = _world.CreateBody(bd);
				body.CreateShape(sd);
			}
			// "Elastic body" 64 bodies - something like a lin. elastic compound
			// connected via dynamic forces (springs) 
			{
				PolygonDef sd = new PolygonDef();
				sd.SetAsBox(0.55f, 0.55f);
				sd.Density = 1.5f;
				sd.Friction = 0.01f;
				sd.Filter.GroupIndex = -1;
				Vec2 startpoint = new Vec2(30.0f, 20.0f);
				BodyDef bd = new BodyDef();
				bd.IsBullet = false;
				bd.AllowSleep = false;
				for (int i = 0; i < 8; ++i)
				{
					for (int j = 0; j < 8; ++j)
					{
						bd.Position.Set(j * 1.02f, 2.51f + 1.02f * i);
						bd.Position += startpoint;
						Body body = _world.CreateBody(bd);
						bodies[8 * i + j] = body;
						body.CreateShape(sd);
						body.SetMassFromShapes();
					}
				}
			}
		}
Esempio n. 10
0
		public TheoJansen()
		{
			_offset.Set(0.0f, 8.0f);
			_motorSpeed = 2.0f;
			_motorOn = true;
			Vec2 pivot = new Vec2(0.0f, 0.8f);

			{
				PolygonDef sd = new PolygonDef();
				sd.SetAsBox(50.0f, 10.0f);

				BodyDef bd = new BodyDef();
				bd.Position.Set(0.0f, -10.0f);
				Body ground = _world.CreateBody(bd);
				ground.CreateShape(sd);

				sd.SetAsBox(0.5f, 5.0f, new Vec2(-50.0f, 15.0f), 0.0f);
				ground.CreateShape(sd);

				sd.SetAsBox(0.5f, 5.0f, new Vec2(50.0f, 15.0f), 0.0f);
				ground.CreateShape(sd);
			}

			for (int i = 0; i < 40; ++i)
			{
				CircleDef sd = new CircleDef();
				sd.Density = 1.0f;
				sd.Radius = 0.25f;

				BodyDef bd = new BodyDef();
				bd.Position.Set(-40.0f + 2.0f * i, 0.5f);

				Body body = _world.CreateBody(bd);
				body.CreateShape(sd);
				body.SetMassFromShapes();
			}

			{
				PolygonDef sd = new PolygonDef();
				sd.Density = 1.0f;
				sd.SetAsBox(2.5f, 1.0f);
				sd.Filter.GroupIndex = -1;
				BodyDef bd = new BodyDef();
				bd.Position = pivot + _offset;
				_chassis = _world.CreateBody(bd);
				_chassis.CreateShape(sd);
				_chassis.SetMassFromShapes();
			}

			{
				CircleDef sd = new CircleDef();
				sd.Density = 1.0f;
				sd.Radius = 1.6f;
				sd.Filter.GroupIndex = -1;
				BodyDef bd = new BodyDef();
				bd.Position = pivot + _offset;
				_wheel = _world.CreateBody(bd);
				_wheel.CreateShape(sd);
				_wheel.SetMassFromShapes();
			}

			{
				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.SetXForm(_wheel.GetPosition(), 120.0f * Box2DX.Common.Settings.Pi / 180.0f);
			CreateLeg(-1.0f, wheelAnchor);
			CreateLeg(1.0f, wheelAnchor);

			_wheel.SetXForm(_wheel.GetPosition(), -120.0f * Box2DX.Common.Settings.Pi / 180.0f);
			CreateLeg(-1.0f, wheelAnchor);
			CreateLeg(1.0f, wheelAnchor);
		}
Esempio n. 11
0
		public override void Keyboard(System.Windows.Forms.Keys key)
		{
			switch (key)
			{
				case System.Windows.Forms.Keys.S:
					if (_bullet != null)
					{
						_world.DestroyBody(_bullet);
						_bullet = null;
					}
					{
						CircleDef sd = new CircleDef();
						sd.Density = 20.0f;
						sd.Radius = 0.25f;
						sd.Restitution = 0.05f;

						BodyDef bd = new BodyDef();
						bd.IsBullet = true;
						bd.AllowSleep = false;
						bd.Position.Set(-31.0f, 5.0f);

						_bullet = _world.CreateBody(bd);
						_bullet.CreateShape(sd);
						_bullet.SetMassFromShapes();

						_bullet.SetLinearVelocity(new Vec2(400.0f, 0.0f));
					}
					break;
			}
		}
Esempio n. 12
0
        public PlayerCharacter(World _world, Vector2 _position)
            : base(_world, _position)
        {
            playerIndex = playerCount++;
            color = PlayerCharacter.Colors[playerIndex];
            accelerate = 0;
            rotate = 0;

            isDead = false;

            this.angVelocity = 0;
            //build the unicycle
            CircleDef circleDef = new CircleDef();
            circleDef.Radius = 1;
            circleDef.Density = 1f;
            circleDef.Friction = 1.0f;
            circleDef.Restitution = 0.0f;
            circleDef.LocalPosition.Set(0, 0);

            wheel = body.CreateShape(circleDef);
            body.SetMassFromShapes();
            body.SetUserData(this); // link body and this to register collisions in this

            //build the head and connect with the wheel
            BodyDef bodydef = new BodyDef();
            bodydef.Position = _position + new Vector2(0.0f, 3.5f);
            bodydef.Angle = 0f;

            chest = _world.CreateBody(bodydef);

            //add the head
            circleDef.Density = 0.0001f;
            circleDef.Radius = 0.75f;
            circleDef.LocalPosition.Set(0, 3);
            head = chest.CreateShape(circleDef);

            rotationHead = _position;

            PolygonDef Boxdef = new PolygonDef();
            Boxdef.SetAsBox(1, 1.5f);
            Boxdef.Density = 0.25f;
            Boxdef.Friction = 0.4f;
            Box2DX.Collision.Shape s2 = chest.CreateShape(Boxdef);
            chest.SetMassFromShapes();
            chest.SetUserData(this);

            //Jointshit
            RevoluteJointDef jointDefKW = new RevoluteJointDef();
            jointDefKW.Body2 = chest;
            jointDefKW.Body1 = body;
            jointDefKW.CollideConnected = false;
            jointDefKW.LocalAnchor2 = new Vector2(-0.0f, -3.8f);
            jointDefKW.LocalAnchor1 = new Vector2(0, 0);
            jointDefKW.EnableLimit = false;

            _world.CreateJoint(jointDefKW);

            // add visuals
            Texture wheelTexture = AssetManager.getTexture(AssetManager.TextureName.ShoopWheel);
            wheelSprite = new AnimatedSprite(wheelTexture, 1.0f, 1, (Vector2)wheelTexture.Size);
            wheelSprite.Scale = Constants.windowScaleFactor * new Vector2(0.2f, 0.2f); //(Vector2.One / (Vector2)wheelTexture.Size * 2F * circleDef.Radius).toScreenCoord() - Vector2.Zero.toScreenCoord();//new Vector2(0.08f, 0.08f);
            wheelSprite.Origin = ((Vector2)wheelSprite.spriteSize) / 2F;

            sheepSprite = new Sprite(AssetManager.getTexture(AssetManager.TextureName.ShoopInfronUnicycle));
            sheepSprite.Origin = ((Vector2)sheepSprite.Texture.Size) / 2F;
            sheepSprite.Scale = Constants.windowScaleFactor *  new Vector2(_position.X > Constants.worldSizeX / 2F ? -0.2f : 0.2f, 0.2f);
        }
Esempio n. 13
0
        public virtual void InitPhysics()
        {
            if (_physBody != null)
            {
                Log.Instance.Log("WARNING: Call to InitPhysics had no effect.  Actor has already had physics initialized.");
                return;
            }

            ShapeType shapeType = ShapeType.Box;
            Box2D.World physicsWorld = Angel.World.Instance.PhysicsWorld;

            ShapeDef shape;
            switch (shapeType)
            {
                case ShapeType.Box:
                    PolygonDef box = new PolygonDef();
                    box.SetAsBox(0.5f * Size.X, 0.5f * Size.Y);
                    shape = box;
                    break;
                case ShapeType.Circle:
                    CircleDef circle = new CircleDef();
                    circle.Radius = 0.5f * Size.X;
                    shape = circle;
                    break;
                default:
                    Log.Instance.Log("InitPhysics(): Invalid shape type given");
                    return;
            }

            shape.Density = _fDensity;
            shape.Friction = _fFriction;
            shape.Restitution = _fRestitution;
            shape.IsSensor = _bIsSensor;
            if (_iCollisionFlags != -1)
            {
                //shape->maskBits = (short)collisionFlags;
                //shape->categoryBits = (short)collisionFlags;
            }

            // InitShape( shape );

            BodyDef bodyDef = new BodyDef();
            bodyDef.UserData = this;
            bodyDef.Position = this.Position;
            bodyDef.Angle = MathHelper.ToRadians(-Rotation);
            bodyDef.FixedRotation = _bFixedRotation;

            _physBody = physicsWorld.CreateBody(bodyDef);
            _physBody.CreateShape(shape);
            _physBody.SetMassFromShapes();

            CustomInitPhysics();
        }
Esempio n. 14
0
		public void LaunchBomb()
		{
			if (_bomb != null)
			{
				_world.DestroyBody(_bomb);
				_bomb = null;
			}

			BodyDef bd = new BodyDef();
			bd.AllowSleep = true;
			bd.Position.Set(Box2DX.Common.Math.Random(-15.0f, 15.0f), 30.0f);
			bd.IsBullet = true;
			_bomb = _world.CreateBody(bd);
			_bomb.SetLinearVelocity(-5.0f * bd.Position);

			CircleDef sd = new CircleDef();
			sd.Radius = 0.3f;
			sd.Density = 20.0f;
			sd.Restitution = 0.1f;
			_bomb.CreateShape(sd);

			_bomb.SetMassFromShapes();
		}
Esempio n. 15
0
        public Biped(World w, Vec2 position)
        {
            m_world = w;

            BipedDef def = new BipedDef();
            BodyDef bd;

            // create body parts
            bd = def.LFootDef;
            bd.Position += position;
            LFoot = w.CreateBody(bd);
            LFoot.CreateShape(def.LFootPoly);
            LFoot.SetMassFromShapes();

            bd = def.RFootDef;
            bd.Position += position;
            RFoot = w.CreateBody(bd);
            RFoot.CreateShape(def.RFootPoly);
            RFoot.SetMassFromShapes();

            bd = def.LCalfDef;
            bd.Position += position;
            LCalf = w.CreateBody(bd);
            LCalf.CreateShape(def.LCalfPoly);
            LCalf.SetMassFromShapes();

            bd = def.RCalfDef;
            bd.Position += position;
            RCalf = w.CreateBody(bd);
            RCalf.CreateShape(def.RCalfPoly);
            RCalf.SetMassFromShapes();

            bd = def.LThighDef;
            bd.Position += position;
            LThigh = w.CreateBody(bd);
            LThigh.CreateShape(def.LThighPoly);
            LThigh.SetMassFromShapes();

            bd = def.RThighDef;
            bd.Position += position;
            RThigh = w.CreateBody(bd);
            RThigh.CreateShape(def.RThighPoly);
            RThigh.SetMassFromShapes();

            bd = def.PelvisDef;
            bd.Position += position;
            Pelvis = w.CreateBody(bd);
            Pelvis.CreateShape(def.PelvisPoly);
            Pelvis.SetMassFromShapes();

            bd = def.PelvisDef;
            bd.Position += position;
            Stomach = w.CreateBody(bd);
            Stomach.CreateShape(def.StomachPoly);
            Stomach.SetMassFromShapes();

            bd = def.ChestDef;
            bd.Position += position;
            Chest = w.CreateBody(bd);
            Chest.CreateShape(def.ChestPoly);
            Chest.SetMassFromShapes();

            bd = def.NeckDef;
            bd.Position += position;
            Neck = w.CreateBody(bd);
            Neck.CreateShape(def.NeckPoly);
            Neck.SetMassFromShapes();

            bd = def.HeadDef;
            bd.Position += position;
            Head = w.CreateBody(bd);
            Head.CreateShape(def.HeadCirc);
            Head.SetMassFromShapes();

            bd = def.LUpperArmDef;
            bd.Position += position;
            LUpperArm = w.CreateBody(bd);
            LUpperArm.CreateShape(def.LUpperArmPoly);
            LUpperArm.SetMassFromShapes();

            bd = def.RUpperArmDef;
            bd.Position += position;
            RUpperArm = w.CreateBody(bd);
            RUpperArm.CreateShape(def.RUpperArmPoly);
            RUpperArm.SetMassFromShapes();

            bd = def.LForearmDef;
            bd.Position += position;
            LForearm = w.CreateBody(bd);
            LForearm.CreateShape(def.LForearmPoly);
            LForearm.SetMassFromShapes();

            bd = def.RForearmDef;
            bd.Position += position;
            RForearm = w.CreateBody(bd);
            RForearm.CreateShape(def.RForearmPoly);
            RForearm.SetMassFromShapes();

            bd = def.LHandDef;
            bd.Position += position;
            LHand = w.CreateBody(bd);
            LHand.CreateShape(def.LHandPoly);
            LHand.SetMassFromShapes();

            bd = def.RHandDef;
            bd.Position += position;
            RHand = w.CreateBody(bd);
            RHand.CreateShape(def.RHandPoly);
            RHand.SetMassFromShapes();

            // link body parts
            def.LAnkleDef.Body1 = LFoot;
            def.LAnkleDef.Body2 = LCalf;
            def.RAnkleDef.Body1 = RFoot;
            def.RAnkleDef.Body2 = RCalf;
            def.LKneeDef.Body1 = LCalf;
            def.LKneeDef.Body2 = LThigh;
            def.RKneeDef.Body1 = RCalf;
            def.RKneeDef.Body2 = RThigh;
            def.LHipDef.Body1 = LThigh;
            def.LHipDef.Body2 = Pelvis;
            def.RHipDef.Body1 = RThigh;
            def.RHipDef.Body2 = Pelvis;
            def.LowerAbsDef.Body1 = Pelvis;
            def.LowerAbsDef.Body2 = Stomach;
            def.UpperAbsDef.Body1 = Stomach;
            def.UpperAbsDef.Body2 = Chest;
            def.LowerNeckDef.Body1 = Chest;
            def.LowerNeckDef.Body2 = Neck;
            def.UpperNeckDef.Body1 = Chest;
            def.UpperNeckDef.Body2 = Head;
            def.LShoulderDef.Body1 = Chest;
            def.LShoulderDef.Body2 = LUpperArm;
            def.RShoulderDef.Body1 = Chest;
            def.RShoulderDef.Body2 = RUpperArm;
            def.LElbowDef.Body1 = LForearm;
            def.LElbowDef.Body2 = LUpperArm;
            def.RElbowDef.Body1 = RForearm;
            def.RElbowDef.Body2 = RUpperArm;
            def.LWristDef.Body1 = LHand;
            def.LWristDef.Body2 = LForearm;
            def.RWristDef.Body1 = RHand;
            def.RWristDef.Body2 = RForearm;

            // create joints
            LAnkle = (RevoluteJoint)w.CreateJoint(def.LAnkleDef);
            RAnkle = (RevoluteJoint)w.CreateJoint(def.RAnkleDef);
            LKnee = (RevoluteJoint)w.CreateJoint(def.LKneeDef);
            RKnee = (RevoluteJoint)w.CreateJoint(def.RKneeDef);
            LHip = (RevoluteJoint)w.CreateJoint(def.LHipDef);
            RHip = (RevoluteJoint)w.CreateJoint(def.RHipDef);
            LowerAbs = (RevoluteJoint)w.CreateJoint(def.LowerAbsDef);
            UpperAbs = (RevoluteJoint)w.CreateJoint(def.UpperAbsDef);
            LowerNeck = (RevoluteJoint)w.CreateJoint(def.LowerNeckDef);
            UpperNeck = (RevoluteJoint)w.CreateJoint(def.UpperNeckDef);
            LShoulder = (RevoluteJoint)w.CreateJoint(def.LShoulderDef);
            RShoulder = (RevoluteJoint)w.CreateJoint(def.RShoulderDef);
            LElbow = (RevoluteJoint)w.CreateJoint(def.LElbowDef);
            RElbow = (RevoluteJoint)w.CreateJoint(def.RElbowDef);
            LWrist = (RevoluteJoint)w.CreateJoint(def.LWristDef);
            RWrist = (RevoluteJoint)w.CreateJoint(def.RWristDef);
        }
Esempio n. 16
0
		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.CreateShape(poly1);
				_vehicle.CreateShape(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.CreateShape(circ);
				_rightWheel.SetMassFromShapes();

				bd.Position.Set(-36.2f, 2.0f);
				_leftWheel = _world.CreateBody(bd);
				_leftWheel.CreateShape(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.CreateShape(box);
			}

			{	// more ground
				PolygonDef box = new PolygonDef();
				BodyDef bd = new BodyDef();

				box.SetAsBox(9.5f, 0.5f, Vec2.Zero, 0.1f * Box2DX.Common.Settings.Pi);
				box.Friction = 0.62f;
				bd.Position.Set(27.0f - 30.0f, 3.1f);

				Body ground = _world.CreateBody(bd);
				ground.CreateShape(box);
			}

			{	// more ground
				PolygonDef box = new PolygonDef();
				BodyDef bd = new BodyDef();

				box.SetAsBox(9.5f, 0.5f, Vec2.Zero, -0.1f * Box2DX.Common.Settings.Pi);
				box.Friction = 0.62f;
				bd.Position.Set(55.0f - 30.0f, 3.1f);

				Body ground = _world.CreateBody(bd);
				ground.CreateShape(box);
			}

			{	// more ground
				PolygonDef box = new PolygonDef();
				BodyDef bd = new BodyDef();

				box.SetAsBox(9.5f, 0.5f, Vec2.Zero, 0.03f * Box2DX.Common.Settings.Pi);
				box.Friction = 0.62f;
				bd.Position.Set(41.0f, 2.0f);

				Body ground = _world.CreateBody(bd);
				ground.CreateShape(box);
			}

			{	// more ground
				PolygonDef box = new PolygonDef();
				BodyDef bd = new BodyDef();

				box.SetAsBox(5.0f, 0.5f, Vec2.Zero, 0.15f * Box2DX.Common.Settings.Pi);
				box.Friction = 0.62f;
				bd.Position.Set(50.0f, 4.0f);

				Body ground = _world.CreateBody(bd);
				ground.CreateShape(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.CreateShape(box);
			}
		}
        /// <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);
        }
Esempio n. 18
0
		public ApplyForce()
		{
			_world.Gravity = new Vec2(0.0f, 0.0f);

			const float k_restitution = 0.4f;

			{
				BodyDef bd = new BodyDef();
				bd.Position.Set(0.0f, 20.0f);
				Body ground = _world.CreateBody(bd);

				PolygonDef sd = new PolygonDef();
				sd.Density = 0.0f;
				sd.Restitution = k_restitution;

				sd.SetAsBox(0.2f, 20.0f, new Vec2(-20.0f, 0.0f), 0.0f);
				ground.CreateShape(sd);

				sd.SetAsBox(0.2f, 20.0f, new Vec2(20.0f, 0.0f), 0.0f);
				ground.CreateShape(sd);

				sd.SetAsBox(0.2f, 20.0f, new Vec2(0.0f, -20.0f), 0.5f * Box2DX.Common.Settings.Pi);
				ground.CreateShape(sd);

				sd.SetAsBox(0.2f, 20.0f, new Vec2(0.0f, 20.0f), -0.5f * Box2DX.Common.Settings.Pi);
				ground.CreateShape(sd);
			}

			{
				XForm xf1 = new XForm();
				xf1.R.Set(0.3524f * Box2DX.Common.Settings.Pi);
				xf1.Position = Box2DX.Common.Math.Mul(xf1.R, new Vec2(1.0f, 0.0f));

				PolygonDef sd1 = new PolygonDef();
				sd1.VertexCount = 3;
				sd1.Vertices[0] = Box2DX.Common.Math.Mul(xf1, new Vec2(-1.0f, 0.0f));
				sd1.Vertices[1] = Box2DX.Common.Math.Mul(xf1, new Vec2(1.0f, 0.0f));
				sd1.Vertices[2] = Box2DX.Common.Math.Mul(xf1, new Vec2(0.0f, 0.5f));
				sd1.Density = 2.0f;

				XForm xf2 = new XForm();
				xf2.R.Set(-0.3524f * Box2DX.Common.Settings.Pi);
				xf2.Position = Box2DX.Common.Math.Mul(xf2.R, new Vec2(-1.0f, 0.0f));

				PolygonDef sd2 = new PolygonDef();
				sd2.VertexCount = 3;
				sd2.Vertices[0] = Box2DX.Common.Math.Mul(xf2, new Vec2(-1.0f, 0.0f));
				sd2.Vertices[1] = Box2DX.Common.Math.Mul(xf2, new Vec2(1.0f, 0.0f));
				sd2.Vertices[2] = Box2DX.Common.Math.Mul(xf2, new Vec2(0.0f, 0.5f));
				sd2.Density = 2.0f;

				BodyDef bd = new BodyDef();
				bd.AngularDamping = 2.0f;
				bd.LinearDamping = 0.1f;

				bd.Position.Set(0.0f, 1.05f);
				bd.Angle = Box2DX.Common.Settings.Pi;
				_body = _world.CreateBody(bd);
				_body.CreateShape(sd1);
				_body.CreateShape(sd2);
				_body.SetMassFromShapes();
			}
		}