// Use this for initialization
protected override void Init()
{
var ground = API.CreateBody(world, new Vector2(0,0), 0, BodyType.STATIC_BODY );
API.AddEdgeShape(ground, new Vector2(-40.0f,0.0f), new Vector2(40.0f,0.0f), new ShapeDef(0));
ShapeDef sp = new ShapeDef( 20.0f );
sp.friction = 0.2f;
Vector2 anchor;
RevoluteJointDef jd = new RevoluteJointDef();
IntPtr prevBody = ground;
float y = 25;
for(int i=0; i<e_count; ++i)
{
var b = API.CreateBody(world, new Vector2(0.5f+i,y), 0, BodyType.DYNAMIC_BODY );
API.AddBoxShape(b, 0.6f, 0.125f, Vector2.zero, 0, sp);
anchor = new Vector2(i,y);
jd.Initialize(prevBody,b,anchor);
API.CreateRevoluteJoint(world,jd);
prevBody = b;
}
}
// Use this for initialization
protected override void Init()
{
var ground = API.CreateBody(world, new Vector2(0,0), 0, BodyType.STATIC_BODY );
BodyDef bd = new BodyDef(BodyType.DYNAMIC_BODY);
bd.allowSleep = false;
bd.position = new Vector2(0,10);
m_body = API.CreateBody(world, bd);
API.AddBoxShape(m_body,0.5f,10.0f,new Vector2(10.0f,0),0,new ShapeDef(5.0f));
API.AddBoxShape(m_body,0.5f,10.0f,new Vector2(-10.0f,0),0,new ShapeDef(5.0f));
API.AddBoxShape(m_body,10.0f,0.5f,new Vector2(0,10),0,new ShapeDef(5.0f));
API.AddBoxShape(m_body,10.0f,0.5f,new Vector2(0,-10),0,new ShapeDef(5.0f));
RevoluteJointDef rjd = new RevoluteJointDef(IntPtr.Zero, IntPtr.Zero);
rjd.bodyA = ground;
rjd.bodyB = m_body;
rjd.localAnchorA = new Vector2(0,10);
rjd.localAnchorB = Vector2.zero;
rjd.referenceAngle = 0;
rjd.motorSpeed = 0.05f * Mathf.PI;
rjd.maxMotorTorque = 1e8f;
rjd.enableMotor = true;
API.CreateRevoluteJoint(world, rjd);
}
// Use this for initialization
protected override IntPtr Init()
{
Vector3 a = anchor;
RevoluteJointDef def = new RevoluteJointDef(other.body, body.body);
def.collideConnected = collideConnected;
def.Initialize(other.body, body.body, new Vector2(a.x,a.y));
def.enableLimit = enableLimit;
def.lowerAngle = lowerAngle;
def.upperAngle = upperAngle;
def.enableMotor = enableMotor;
def.motorSpeed = motorSpeed;
def.maxMotorTorque = maxMotorTorque;
return API.CreateRevoluteJoint(B2DWorld.instance.world, def);
}
// Use this for initialization
protected override void Init()
{
var ground = API.CreateBody(world, new Vector2(0,0), 0, BodyType.STATIC_BODY );
API.AddEdgeShape(ground, new Vector2(-40.0f,0.0f), new Vector2(40.0f,0.0f), new ShapeDef(0));
ShapeDef sp = new ShapeDef( 20.0f );
sp.friction = 0.2f;
RevoluteJointDef def = new RevoluteJointDef();
IntPtr prevBody = ground;
for(int i=0; i<e_count; ++i)
{
var b = API.CreateBody(world, new Vector2(-14.5f+i,5.0f), 0, BodyType.DYNAMIC_BODY );
API.AddBoxShape(b, 0.5f, 0.125f, Vector2.zero, 0, sp);
def.Initialize(prevBody, b, new Vector2(-15.0f+i, 5.0f));
API.CreateRevoluteJoint(world, def );
prevBody = b;
}
def.Initialize(prevBody, ground, new Vector2(-15.0f+e_count, 5.0f));
API.CreateRevoluteJoint(world,def);
for(int i=0; i<2; ++i)
{
var b = API.CreateBody(world,new Vector2(-8.0f + 8*i,12), 0, BodyType.DYNAMIC_BODY);
Vector2[] vertices = new Vector2[3];
vertices[0].Set(-0.5f, 0.0f);
vertices[1].Set(0.5f, 0.0f);
vertices[2].Set(0.0f, 1.5f);
API.AddPolygonShape(b,vertices,vertices.Length, new ShapeDef(1.0f));
}
for(int i=0; i<3; ++i)
{
var b = API.CreateBody(world,new Vector2(-6.0f + 6*i,10), 0, BodyType.DYNAMIC_BODY);
API.AddCircleShape(b,0.5f,new ShapeDef(1.0f));
}
}
public static extern IntPtr CreateRevoluteJoint( IntPtr w, RevoluteJointDef def );
public static extern IntPtr CreateRevoluteJoint(IntPtr w, RevoluteJointDef def);
void CreateLeg(float s, Vector2 wheelAnchor)
{
Vector2 p1 = new Vector2(5.4f * s, -6.1f);
Vector2 p2 = new Vector2(7.2f * s, -1.2f);
Vector2 p3 = new Vector2(4.3f * s, -1.9f);
Vector2 p4 = new Vector2(3.1f * s, 0.8f);
Vector2 p5 = new Vector2(6.0f * s, 1.5f);
Vector2 p6 = new Vector2(2.5f * s, 3.7f);
ShapeDef sp = new ShapeDef(1.0f);
sp.groupIndex = -1;
Vector2[] vertices1 = new Vector2[3];
Vector2[] vertices2 = new Vector2[3];
if( s > 0.0f )
{
vertices1[0] = p1;
vertices1[1] = p2;
vertices1[2] = p3;
vertices2[0] = Vector2.zero;
vertices2[1] = p5-p4;
vertices2[2] = p6-p4;
}
else
{
vertices1[0] = p1;
vertices1[1] = p3;
vertices1[2] = p2;
vertices2[0] = Vector2.zero;
vertices2[1] = p6-p4;
vertices2[2] = p5-p4;
}
BodyDef bd1 = new BodyDef(BodyType.DYNAMIC_BODY);
BodyDef bd2 = new BodyDef(BodyType.DYNAMIC_BODY);
bd1.position = m_offset;
bd2.position = p4 + m_offset;
bd1.angularDamping = 10.0f;
bd2.angularDamping = 10.0f;
var body1 = API.CreateBody(world,bd1);
var body2 = API.CreateBody(world,bd2);
API.AddPolygonShape(body1, vertices1,vertices1.Length,sp);
API.AddPolygonShape(body2, vertices2,vertices2.Length,sp);
DistanceJointDef djd = new DistanceJointDef();
djd.dampingRatio = 0.5f;
djd.frequencyHz = 10.0f;
djd.Initialize(body1,body2,p2+m_offset, p5+m_offset);
API.CreateDistanceJoint(world, djd );
djd.Initialize(body1, body2, p3 + m_offset, p4 + m_offset);
API.CreateDistanceJoint(world, djd );
djd.Initialize(body1, m_wheel, p3 + m_offset, wheelAnchor + m_offset);
API.CreateDistanceJoint(world, djd );
djd.Initialize(body2, m_wheel, p6 + m_offset, wheelAnchor + m_offset);
API.CreateDistanceJoint(world, djd );
RevoluteJointDef rjd = new RevoluteJointDef();
rjd.Initialize(body2, m_chassis,p4+m_offset);
API.CreateRevoluteJoint(world,rjd);
}
// Use this for initialization
protected override void Init()
{
m_offset = new Vector2(0,8);
m_motorSpeed = 2.0f;
m_motorOn = true;
Vector2 pivot = new Vector2(0,0.8f);
//ground
var ground = API.CreateBody(world, new Vector2(0,0), 0, BodyType.STATIC_BODY );
API.AddEdgeShape( ground, new Vector2(-50,0), new Vector2(50,0), new ShapeDef(0) );
API.AddEdgeShape( ground, new Vector2(-50,0), new Vector2(-50,10), new ShapeDef(0) );
API.AddEdgeShape( ground, new Vector2(50,0), new Vector2(50,10), new ShapeDef(0) );
//Balls
for(int i=0; i<40; ++i)
{
var b = API.CreateBody(world, new Vector2(-40+2*i,0.5f), 0, BodyType.DYNAMIC_BODY);
API.AddCircleShape(b, 0.25f, new ShapeDef(1.0f));
}
//Chassis
ShapeDef sp = new ShapeDef(1.0f);
sp.groupIndex = -1;
m_chassis = API.CreateBody(world, pivot+m_offset,0,BodyType.DYNAMIC_BODY);
API.AddBoxShape(m_chassis,2.5f,1.0f,Vector2.zero,0,sp);
m_wheel = API.CreateBody(world, pivot+m_offset,0,BodyType.DYNAMIC_BODY);
API.AddCircleShape(m_wheel,1.6f,sp);
// Vector2 localArchorA,localArchorB;
//
// API.GetLocalPoint(m_wheel,pivot + m_offset,out localArchorA);
// API.GetLocalPoint(m_chassis,pivot + m_offset,out localArchorB);
// float referenceAngle = API.GetBodyAngle(m_chassis) - API.GetBodyAngle(m_wheel);
// API.CreateRevoluteJoint(m_wheel, m_chassis, localArchorA, localArchorB, false,
// referenceAngle,false, 0, 0, m_motorOn, m_motorSpeed, 400.0f);
RevoluteJointDef rjd = new RevoluteJointDef();
rjd.Initialize(m_wheel,m_chassis,pivot+m_offset);
rjd.collideConnected = false;
rjd.motorSpeed = m_motorSpeed;
rjd.maxMotorTorque = 400.0f;
rjd.enableMotor = m_motorOn;
API.CreateRevoluteJoint(world, rjd );
Vector2 wheelAnchor = pivot + new Vector2(0,-0.8f);
CreateLeg(-1.0f, wheelAnchor);
CreateLeg(1.0f, wheelAnchor);
Vector2 pos;
API.GetPosition(m_wheel, out pos);
API.SetTransform(m_wheel, pos, 120.0f*Mathf.PI/180.0f);
CreateLeg(-1.0f, wheelAnchor);
CreateLeg(1.0f, wheelAnchor);
API.GetPosition(m_wheel, out pos);
API.SetTransform(m_wheel, pos, -120.0f*Mathf.PI/180.0f);
CreateLeg(-1.0f, wheelAnchor);
CreateLeg(1.0f, wheelAnchor);
}
// Use this for initialization
protected override void Init()
{
m_hz = 4.0f;
m_zeta = 0.7f;
m_speed = 50.0f;
IntPtr ground = IntPtr.Zero;
{
ground = API.CreateBody(world,new Vector2(0,0), 0, BodyType.STATIC_BODY);
ShapeDef sp = new ShapeDef(0);
sp.friction = 0.6f;
API.AddEdgeShape(ground, new Vector2(-20,0),new Vector2(20,0), sp);
float[] hs = new float[]{0.25f, 1.0f, 4.0f, 0.0f, 0.0f, -1.0f, -2.0f, -2.0f, -1.25f, 0.0f};
float x = 20.0f, y1 = 0.0f, dx = 5.0f;
for (int i = 0; i < 10; ++i)
{
float y2 = hs[i];
API.AddEdgeShape(ground, new Vector2(x,y1), new Vector2(x+dx,y2),sp);
y1 = y2;
x += dx;
}
for (int i = 0; i < 10; ++i)
{
float y2 = hs[i];
API.AddEdgeShape(ground, new Vector2(x,y1), new Vector2(x+dx,y2),sp);
y1 = y2;
x += dx;
}
API.AddEdgeShape(ground, new Vector2(x,0), new Vector2(x+40,0),sp);
x += 80.0f;
API.AddEdgeShape(ground, new Vector2(x,0), new Vector2(x+40,0),sp);
x += 40.0f;
API.AddEdgeShape(ground, new Vector2(x,0), new Vector2(x+10,5),sp);
x += 20.0f;
API.AddEdgeShape(ground, new Vector2(x,0), new Vector2(x+40,0),sp);
x += 40.0f;
API.AddEdgeShape(ground, new Vector2(x,0), new Vector2(x,20),sp);
}
// Teeter
{
IntPtr body = API.CreateBody(world,new Vector2(140,1.0f), 0, BodyType.DYNAMIC_BODY);
API.AddBoxShape(body,10,0.25f,Vector2.zero,0,new ShapeDef(1.0f));
Vector2 archor;
API.GetPosition(body, out archor);
RevoluteJointDef jd = new RevoluteJointDef();
jd.Initialize(ground,body,archor);
jd.lowerAngle = -8.0f * Mathf.Deg2Rad;
jd.upperAngle = 8.0f * Mathf.Deg2Rad;
jd.enableLimit = true;
API.CreateRevoluteJoint(world,jd);
API.ApplyAngularImpulse(body, 100.0f);
}
// Bridge
{
int N = 20;
ShapeDef sp = new ShapeDef(1.0f);
sp.friction = 0.6f;
Vector2 anchor;
RevoluteJointDef jd = new RevoluteJointDef();
IntPtr prevBody = ground;
for (int i = 0; i < N; ++i)
{
var body = API.CreateBody(world,new Vector2(161.0f+2.0f*i, -0.125f), 0, BodyType.DYNAMIC_BODY);
API.AddBoxShape(body,1.0f, 0.125f, Vector2.zero, 0, sp);
anchor = new Vector2(160.0f + 2.0f * i, -0.125f);
jd.Initialize(prevBody,body,anchor);
API.CreateRevoluteJoint(world,jd);
prevBody = body;
}
anchor = new Vector2(160.0f + 2.0f * N, -0.125f);
jd.Initialize(prevBody,ground,anchor);
API.CreateRevoluteJoint(world,jd);
}
// Boxes
{
var body = API.CreateBody(world,new Vector2(230.0f,0.5f), 0, BodyType.DYNAMIC_BODY);
API.AddBoxShape(body,0.5f,0.5f, Vector2.zero,0,new ShapeDef(0.5f));
body = API.CreateBody(world,new Vector2(230.0f,1.5f), 0, BodyType.DYNAMIC_BODY);
API.AddBoxShape(body,0.5f,0.5f, Vector2.zero,0,new ShapeDef(0.5f));
body = API.CreateBody(world,new Vector2(230.0f,2.5f), 0, BodyType.DYNAMIC_BODY);
API.AddBoxShape(body,0.5f,0.5f, Vector2.zero,0,new ShapeDef(0.5f));
body = API.CreateBody(world,new Vector2(230.0f,3.5f), 0, BodyType.DYNAMIC_BODY);
API.AddBoxShape(body,0.5f,0.5f, Vector2.zero,0,new ShapeDef(0.5f));
body = API.CreateBody(world,new Vector2(230.0f,4.5f), 0, BodyType.DYNAMIC_BODY);
API.AddBoxShape(body,0.5f,0.5f, Vector2.zero,0,new ShapeDef(0.5f));
}
// Car
{
ShapeDef sp = new ShapeDef(1.0f);
Vector2[] vertices = new Vector2[6];
vertices[0] = new Vector2(-1.5f, -0.5f);
vertices[1] = new Vector2(1.5f, -0.5f);
vertices[2] = new Vector2(1.5f, 0.0f);
vertices[3] = new Vector2(0.0f, 0.9f);
vertices[4] = new Vector2(-1.15f, 0.9f);
vertices[5] = new Vector2(-1.5f, 0.2f);
m_car = API.CreateBody(world,new Vector2(0,1.0f),0,BodyType.DYNAMIC_BODY);
API.AddPolygonShape(m_car,vertices,vertices.Length,sp);
sp.friction = 0.9f;
m_wheel1 = API.CreateBody(world,new Vector2(-1.0f,0.35f),0,BodyType.DYNAMIC_BODY);
API.AddCircleShape(m_wheel1, 0.4f, sp);
m_wheel2 = API.CreateBody(world,new Vector2(1.0f,0.4f),0,BodyType.DYNAMIC_BODY);
API.AddCircleShape(m_wheel2, 0.4f, sp);
WheelJointDef jd = new WheelJointDef();
Vector2 axis = new Vector2(0.0f, 1.0f);
Vector2 pos1,pos2;
API.GetPosition(m_wheel1,out pos1);
API.GetPosition(m_wheel2,out pos2);
jd.Initialize(m_car, m_wheel1, pos1, axis);
jd.motorSpeed = 0.0f;
jd.maxMotorTorque = 20.0f;
jd.enableMotor = true;
jd.frequencyHz = m_hz;
jd.dampingRatio = m_zeta;
m_spring1 = API.CreateWheelJoint(world,jd);
jd.Initialize(m_car, m_wheel2, pos2, axis);
jd.motorSpeed = 0.0f;
jd.maxMotorTorque = 10.0f;
jd.enableMotor = false;
jd.frequencyHz = m_hz;
jd.dampingRatio = m_zeta;
m_spring2 = API.CreateWheelJoint(world,jd);
}
}
