/// Creates a fixture and attach it to this body. Use this function if you need /// to set some fixture parameters, like friction. Otherwise you can create the /// fixture directly from a shape. /// If the Density is non-zero, this function automatically updates the mass of the body. /// Contacts are not created until the next time step. /// @param def the fixture definition. /// @warning This function is locked during callbacks. public Fixture CreateFixture(FixtureDef def) { Utilities.Assert(m_world.IsLocked() == false); if (m_world.IsLocked() == true) { return(null); } Fixture fixture = new Fixture(); fixture.Create(this, def); if (m_flags.HasFlag(BodyFlags.e_activeFlag)) { BroadPhase broadPhase = m_world.m_contactManager.m_broadPhase; fixture.CreateProxies(broadPhase, m_xf); } m_fixtureList.Add(fixture); fixture.m_body = this; // Adjust mass properties if needed. if (fixture.m_Density > 0.0f) { ResetMassData(); } // Let the world know we have a new fixture. This will cause new contacts // to be created at the beginning of the next time step. m_world.m_flags |= WorldFlags.e_newFixture; return(fixture); }
public override void Keyboard() { if (KeyboardManager.IsPressed(Key.Comma)) { if (m_bullet != null) { m_world.DestroyBody(m_bullet); m_bullet = null; } { CircleShape shape = new CircleShape(); shape.m_radius = 0.25f; FixtureDef fd = new FixtureDef(); fd.shape = shape; fd.Density = 20.0f; fd.restitution = 0.05f; BodyDef bd = new BodyDef(); bd.type = BodyType._dynamicBody; bd.bullet = true; bd.Position.Set(-31.0f, 5.0f); m_bullet = m_world.CreateBody(bd); m_bullet.CreateFixture(fd); m_bullet.SetLinearVelocity(new Vec2(400.0f, 0.0f)); } } }
/// Creates a fixture and attach it to this body. Use this function if you need /// to set some fixture parameters, like friction. Otherwise you can create the /// fixture directly from a shape. /// If the Density is non-zero, this function automatically updates the mass of the body. /// Contacts are not created until the next time step. /// @param def the fixture definition. /// @warning This function is locked during callbacks. public Fixture CreateFixture(FixtureDef def){ Utilities.Assert(m_world.IsLocked() == false); if (m_world.IsLocked() == true) { return null; } Fixture fixture = new Fixture(); fixture.Create(this, def); if (m_flags.HasFlag(BodyFlags.e_activeFlag)) { BroadPhase broadPhase = m_world.m_contactManager.m_broadPhase; fixture.CreateProxies(broadPhase, m_xf); } m_fixtureList.Add(fixture); fixture.m_body = this; // Adjust mass properties if needed. if (fixture.m_Density > 0.0f) { ResetMassData(); } // Let the world know we have a new fixture. This will cause new contacts // to be created at the beginning of the next time step. m_world.m_flags |= WorldFlags.e_newFixture; return fixture; }
// We need separation create/destroy functions from the constructor/destructor because // the destructor cannot access the allocator or broad-phase (no destructor arguments allowed by C++). internal void Create(Body body, FixtureDef def) { _userData = def.userData; _friction = def.friction; _restitution = def.restitution; _body = body; _next = null; _filter = def.filter; _isSensor = def.isSensor; _shape = def.shape.Clone(); // Reserve proxy space int childCount = _shape.GetChildCount(); _proxies = new FixtureProxy[childCount]; for (int i = 0; i < childCount; ++i) { _proxies[i] = new FixtureProxy(); _proxies[i].fixture = null; _proxies[i].proxyId = BroadPhase.NullProxy; } _proxyCount = 0; _density = def.density; }
/// Creates a fixture from a shape and attach it to this body. /// This is a convenience function. Use FixtureDef if you need to set parameters /// like friction, restitution, user data, or filtering. /// If the Density is non-zero, this function automatically updates the mass of the body. /// @param shape the shape to be cloned. /// @param Density the shape Density (set to zero for static bodies). /// @warning This function is locked during callbacks. public Fixture CreateFixture(Shape shape){ FixtureDef def = new FixtureDef(); def.shape = shape.Clone(); def.Density = shape.Density; def.Filter = shape.Filter; return CreateFixture(def); }
/// Creates a fixture from a shape and attach it to this body. /// This is a convenience function. Use FixtureDef if you need to set parameters /// like friction, restitution, user data, or filtering. /// If the density is non-zero, this function automatically updates the mass of the body. /// @param shape the shape to be cloned. /// @param density the shape density (set to zero for static bodies). /// @warning This function is locked during callbacks. public Fixture CreateFixture(Shape shape, float density) { FixtureDef def = new FixtureDef(); def.shape = shape; def.density = density; return(CreateFixture(def)); }
/// Creates a fixture from a shape and attach it to this body. /// This is a convenience function. Use FixtureDef if you need to set parameters /// like friction, restitution, user data, or filtering. /// If the Density is non-zero, this function automatically updates the mass of the body. /// @param shape the shape to be cloned. /// @param Density the shape Density (set to zero for static bodies). /// @warning This function is locked during callbacks. public Fixture CreateFixture(Shape shape) { FixtureDef def = new FixtureDef(); def.shape = shape.Clone(); def.Density = shape.Density; def.Filter = shape.Filter; return(CreateFixture(def)); }
public SensorTest() { { BodyDef bd = new BodyDef(); Body 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); } #if ZERO { FixtureDef sd; sd.SetAsBox(10.0f, 2.0f, new Vec2(0.0f, 20.0f), 0.0f); sd.IsSensor = true; m_sensor = ground.CreateFixture(sd); } #else { CircleShape shape = new CircleShape(); shape.m_radius = 5.0f; shape.m_p.Set(0.0f, 10.0f); FixtureDef fd = new FixtureDef(); fd.shape = shape; fd.IsSensor = true; m_sensor = ground.CreateFixture(fd); } #endif } { CircleShape shape = new CircleShape(); shape.m_radius = 1.0f; for (int i = 0; i < e_count; ++i) { BodyDef bd = new BodyDef(); bd.type = BodyType._dynamicBody; bd.Position.Set(-10.0f + 3.0f * i, 20.0f); bd.UserData = m_touching[i]; m_touching[i] = false; m_bodies[i] = m_world.CreateBody(bd); m_bodies[i].CreateFixture(shape); } } }
//e_columnCount = 1, //e_rowCount = 1 public VerticalStack() { { BodyDef bd = new BodyDef(); Body 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); shape.Set(new Vec2(20.0f, 0.0f), new Vec2(20.0f, 20.0f)); shape.Density = 0; ground.CreateFixture(shape); } float[] xs = {0.0f, -10.0f, -5.0f, 5.0f, 10.0f}; for (int j = 0; j < e_columnCount; ++j) { PolygonShape shape = new PolygonShape(); shape.SetAsBox(0.5f, 0.5f); FixtureDef fd = new FixtureDef(); fd.shape = shape; fd.Density = 1.0f; fd.friction = 0.3f; for (int i = 0; i < e_rowCount; ++i) { BodyDef bd = new BodyDef(); bd.type = BodyType._dynamicBody; int n = j * e_rowCount + i; Utilities.Assert(n < e_rowCount * e_columnCount); m_indices[n] = n; bd.UserData = m_indices[n]; float x = 0.0f; //float x = RandomFloat(-0.02f, 0.02f); //float x = i % 2 == 0 ? -0.025f : 0.025f; bd.Position.Set(xs[j] + x, 0.752f + 1.54f * i); Body body = m_world.CreateBody(bd); m_bodies[n] = body; body.CreateFixture(fd); } } m_bullet = null; }
public Confined() { { BodyDef bd = new BodyDef(); Body ground = m_world.CreateBody(bd); EdgeShape shape2 = new EdgeShape(); // Floor shape2.Set(new Vec2(-10.0f, 0.0f), new Vec2(10.0f, 0.0f)); shape2.Density = 0; ground.CreateFixture(shape2); // Left wall shape2.Set(new Vec2(-10.0f, 0.0f), new Vec2(-10.0f, 20.0f)); ground.CreateFixture(shape2); // Right wall shape2.Set(new Vec2(10.0f, 0.0f), new Vec2(10.0f, 20.0f)); ground.CreateFixture(shape2); // Roof shape2.Set(new Vec2(-10.0f, 20.0f), new Vec2(10.0f, 20.0f)); ground.CreateFixture(shape2); } float radius = 0.5f; CircleShape shape = new CircleShape(); shape.m_p.SetZero(); shape.m_radius = radius; FixtureDef fd = new FixtureDef(); fd.shape = shape; fd.Density = 1.0f; fd.friction = 0.1f; for (int j = 0; j < e_columnCount; ++j) { for (int i = 0; i < e_rowCount; ++i) { BodyDef bd = new BodyDef(); bd.type = BodyType._dynamicBody; bd.Position.Set(-10.0f + (2.1f * j + 1.0f + 0.01f * i) * radius, (2.0f * i + 1.0f) * radius); Body body = m_world.CreateBody(bd); body.CreateFixture(fd); } } m_world.SetGravity(new Vec2(0.0f, 0.0f)); }
public GravityTest() { // Define the gravity vector. Vec2 gravity = new Vec2(0.0f, 10.0f); // Construct a world object, which will hold and simulate the rigid bodies. m_world.SetGravity(gravity); // Define the ground body. BodyDef groundBodyDef = new BodyDef(); groundBodyDef.Position.Set(0.0f, 20.0f); // Call the body factory which allocates memory for the ground body // from a pool and creates the ground box shape (also from a pool). // The body is also added to the world. Body groundBody = m_world.CreateBody(groundBodyDef); // Define the ground box shape. PolygonShape groundBox = new PolygonShape(); // The extents are the half-widths of the box. groundBox.SetAsBox(50.0f, 10.0f); groundBox.Density = 0; // Add the ground fixture to the ground body. groundBody.CreateFixture(groundBox); // Define the dynamic body. We set its position and call the body factory. BodyDef bodyDef = new BodyDef(); bodyDef.type = BodyType._dynamicBody; bodyDef.Position = new Vec2(0.0f, 4.0f); Body body = m_world.CreateBody(bodyDef); // Define another box shape for our dynamic body. PolygonShape dynamicBox = new PolygonShape(); dynamicBox.SetAsBox(1.0f, 1.0f); // Define the dynamic body fixture. FixtureDef fixtureDef = new FixtureDef(); fixtureDef.shape = dynamicBox; // Set the box Density to be non-zero, so it will be dynamic. fixtureDef.Density = 1.0f; // Override the default friction. fixtureDef.friction = 0.3f; // Add the shape to the body. body.CreateFixture(fixtureDef); }
public Chain() { 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(0.6f, 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.type = BodyType._dynamicBody; bd.Position.Set(0.5f + i, y); Body body = m_world.CreateBody(bd); body.CreateFixture(fd); Vec2 anchor = new Vec2((float)(i), y); jd.Initialize(prevBody, body, anchor); m_world.CreateJoint(jd); prevBody = body; } } }
public MotorJointTest() { Body ground = null; { BodyDef bd = new BodyDef(); ground = m_world.CreateBody(bd); EdgeShape shape = new EdgeShape(); shape.Set(new Vec2(-20.0f, 0.0f), new Vec2(20.0f, 0.0f)); FixtureDef fd = new FixtureDef(); fd.shape = shape; ground.CreateFixture(fd); } // Define motorized body { BodyDef bd = new BodyDef(); bd.type = BodyType._dynamicBody; bd.Position.Set(0.0f, 8.0f); Body body = m_world.CreateBody(bd); PolygonShape shape = new PolygonShape(); shape.SetAsBox(2.0f, 0.5f); FixtureDef fd = new FixtureDef(); fd.shape = shape; fd.friction = 0.6f; fd.Density = 2.0f; body.CreateFixture(fd); MotorJointDef mjd = new MotorJointDef(); mjd.Initialize(ground, body); mjd.maxForce = 1000.0f; mjd.maxTorque = 1000.0f; m_joint = (MotorJoint)m_world.CreateJoint(mjd); } m_go = false; m_time = 0.0f; }
public ConveyorBelt() { // Ground { BodyDef bd = new BodyDef(); Body ground = m_world.CreateBody(bd); EdgeShape shape = new EdgeShape(); shape.Set(new Vec2(-20.0f, 0.0f), new Vec2(20.0f, 0.0f)); shape.Density = 0; ground.CreateFixture(shape); } // Platform { BodyDef bd = new BodyDef(); bd.Position.Set(-5.0f, 5.0f); Body body = m_world.CreateBody(bd); PolygonShape shape = new PolygonShape(); shape.SetAsBox(10.0f, 0.5f); FixtureDef fd = new FixtureDef(); fd.shape = shape; fd.friction = 0.8f; m_platform = body.CreateFixture(fd); } // Boxes for (int i = 0; i < 5; ++i) { BodyDef bd = new BodyDef(); bd.type = BodyType._dynamicBody; bd.Position.Set(-10.0f + 2.0f * i, 7.0f); Body body = m_world.CreateBody(bd); PolygonShape shape = new PolygonShape(); shape.SetAsBox(0.5f, 0.5f); shape.Density = 20; body.CreateFixture(shape); } }
void CreateCircle() { float radius = 2.0f; CircleShape shape = new CircleShape(); shape.m_p.SetZero(); shape.m_radius = radius; FixtureDef fd = new FixtureDef(); fd.shape = shape; fd.Density = 1.0f; fd.friction = 0.0f; Vec2 p = new Vec2(RandomFloat(), 3.0f + RandomFloat()); BodyDef bd = new BodyDef(); bd.type = BodyType._dynamicBody; bd.Position = p; //bd.allowSleep = false; Body body = m_world.CreateBody(bd); body.CreateFixture(fd); }
// We need separation create/destroy functions from the constructor/destructor because // the destructor cannot access the allocator (no destructor arguments allowed by C++). internal void Create(Body body, FixtureDef def) { m_userData = def.UserData; m_friction = def.friction; m_restitution = def.restitution; m_body = body; m_next = null; m_filter = def.Filter; m_isSensor = def.IsSensor; m_shape = def.shape.Clone(); // Reserve proxy space int childCount = m_shape.GetChildCount(); m_proxies = new List <FixtureProxy>(); m_Density = def.Density; }
/// Creates a fixture and attach it to this body. Use this function if you need /// to set some fixture parameters, like friction. Otherwise you can create the /// fixture directly from a shape. /// If the density is non-zero, this function automatically updates the mass of the body. /// Contacts are not created until the next time step. /// @param def the fixture definition. /// @warning This function is locked during callbacks. public Fixture CreateFixture(FixtureDef def) { //Debug.Assert(_world.IsLocked == false); if (_world.IsLocked == true) { return(null); } Fixture fixture = new Fixture(); fixture.Create(this, def); if ((_flags & BodyFlags.Active) == BodyFlags.Active) { BroadPhase broadPhase = _world._contactManager._broadPhase; fixture.CreateProxies(broadPhase, ref _xf); } fixture._next = _fixtureList; _fixtureList = fixture; ++_fixtureCount; fixture._body = this; // Adjust mass properties if needed. if (fixture._density > 0.0f) { ResetMassData(); } // Let the world know we have a new fixture. This will cause new contacts // to be created at the beginning of the next time step. _world._flags |= WorldFlags.NewFixture; return(fixture); }
public VaryingRestitution() { { BodyDef bd = new BodyDef(); Body 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); } { CircleShape shape = new CircleShape(); shape.m_radius = 1.0f; FixtureDef fd = new FixtureDef(); fd.shape = shape; fd.Density = 1.0f; float[] restitution = {0.0f, 0.1f, 0.3f, 0.5f, 0.75f, 0.9f, 1.0f}; for (int i = 0; i < 7; ++i) { BodyDef bd = new BodyDef(); bd.type = BodyType._dynamicBody; bd.Position.Set(-10.0f + 3.0f * i, 20.0f); Body body = m_world.CreateBody(bd); fd.restitution = restitution[i]; body.CreateFixture(fd); } } }
public BodyTypes() { Body ground = null; { BodyDef bd = new BodyDef(); ground = m_world.CreateBody(bd); EdgeShape shape = new EdgeShape(); shape.Set(new Vec2(-20.0f, 0.0f), new Vec2(20.0f, 0.0f)); FixtureDef fd = new FixtureDef(); fd.shape = shape; ground.CreateFixture(fd); } // Define attachment { BodyDef bd = new BodyDef(); bd.type = BodyType._dynamicBody; bd.Position.Set(0.0f, 3.0f); m_attachment = m_world.CreateBody(bd); PolygonShape shape = new PolygonShape(); shape.SetAsBox(0.5f, 2.0f); shape.Density = 2; m_attachment.CreateFixture(shape); } // Define platform { BodyDef bd = new BodyDef(); bd.type = BodyType._dynamicBody; bd.Position.Set(-4.0f, 5.0f); m_platform = m_world.CreateBody(bd); PolygonShape shape = new PolygonShape(); shape.SetAsBox(0.5f, 4.0f, new Vec2(4.0f, 0.0f), 0.5f * (float)Math.PI); FixtureDef fd = new FixtureDef(); fd.shape = shape; fd.friction = 0.6f; fd.Density = 2.0f; m_platform.CreateFixture(fd); RevoluteJointDef rjd = new RevoluteJointDef(); rjd.Initialize(m_attachment, m_platform, new Vec2(0.0f, 5.0f)); rjd.maxMotorTorque = 50.0f; rjd.enableMotor = true; m_world.CreateJoint(rjd); PrismaticJointDef pjd = new PrismaticJointDef(); pjd.Initialize(ground, m_platform, new Vec2(0.0f, 5.0f), new Vec2(1.0f, 0.0f)); pjd.maxMotorForce = 1000.0f; pjd.enableMotor = true; pjd.lowerTranslation = -10.0f; pjd.upperTranslation = 10.0f; pjd.enableLimit = true; m_world.CreateJoint(pjd); m_speed = 3.0f; } // Create a payload { BodyDef bd = new BodyDef(); bd.type = BodyType._dynamicBody; bd.Position.Set(0.0f, 8.0f); Body body = m_world.CreateBody(bd); PolygonShape shape = new PolygonShape(); shape.SetAsBox(0.75f, 0.75f); FixtureDef fd = new FixtureDef(); fd.shape = shape; fd.friction = 0.6f; fd.Density = 2.0f; body.CreateFixture(fd); } }
// This is a simple example of building and running a simulation // using Box2D. Here we create a large ground box and a small dynamic // box. // There are no graphics for this example. Box2D is meant to be used // with your rendering engine in your game engine. public static int Main(string[] args) { // Define the gravity vector. Vec2 gravity = new Vec2(0.0f, -10.0f); // Construct a world object, which will hold and simulate the rigid bodies. World world = new World(gravity); // Define the ground body. BodyDef groundBodyDef = new BodyDef(); groundBodyDef.Position.Set(0.0f, -10.0f); // Call the body factory which allocates memory for the ground body // from a pool and creates the ground box shape (also from a pool). // The body is also added to the world. Body groundBody = world.CreateBody(groundBodyDef); // Define the ground box shape. PolygonShape groundBox = new PolygonShape(); // The extents are the half-widths of the box. groundBox.SetAsBox(50.0f, 10.0f); groundBox.Density = 0; // Add the ground fixture to the ground body. groundBody.CreateFixture(groundBox); // Define the dynamic body. We set its position and call the body factory. BodyDef bodyDef = new BodyDef(); bodyDef.type = BodyType._dynamicBody; bodyDef.Position = new Vec2(0.0f, 4.0f); Body body = world.CreateBody(bodyDef); // Define another box shape for our dynamic body. PolygonShape dynamicBox = new PolygonShape(); dynamicBox.SetAsBox(1.0f, 1.0f); // Define the dynamic body fixture. FixtureDef fixtureDef = new FixtureDef(); fixtureDef.shape = dynamicBox; // Set the box Density to be non-zero, so it will be dynamic. fixtureDef.Density = 1.0f; // Override the default friction. fixtureDef.friction = 0.3f; // Add the shape to the body. body.CreateFixture(fixtureDef); // Prepare for simulation. Typically we use a time step of 1/60 of a // second (60Hz) and 10 iterations. This provides a high quality simulation // in most game scenarios. float timeStep = 1.0f / 60.0f; int velocityIterations = 6; int positionIterations = 2; // This is our little game loop. for (int i = 0; i < 60; ++i) { // Instruct the world to perform a single step of simulation. // It is generally best to keep the time step and iterations fixed. world.Step(timeStep, velocityIterations, positionIterations); // Now print the position and angle of the body. Vec2 position = body.GetPosition(); float angle = body.GetAngle(); Console.WriteLine("{0} {1} {2}", position.X.ToString("0000.00"), position.Y.ToString("0000.00"), angle.ToString("0000.00")); } // When the world destructor is called, all bodies and joints are freed. This can // create orphaned pointers, so be careful about your world management. Console.WriteLine("Done!"); Console.ReadLine(); return 0; }
public Pinball() { // Ground body Body ground = null; { BodyDef bd = new BodyDef(); ground = m_world.CreateBody(bd); Vec2[] vs = new Vec2[5]; vs[0].Set(0.0f, -2.0f); vs[1].Set(8.0f, 6.0f); vs[2].Set(8.0f, 20.0f); vs[3].Set(-8.0f, 20.0f); vs[4].Set(-8.0f, 6.0f); ChainShape loop = new ChainShape(); loop.CreateLoop(vs, 5); FixtureDef fd = new FixtureDef(); fd.shape = loop; fd.Density = 0.0f; ground.CreateFixture(fd); } // Flippers { Vec2 p1 = new Vec2(-2.0f, 0.0f); Vec2 p2 = new Vec2(2.0f, 0.0f); BodyDef bd = new BodyDef(); bd.type = BodyType._dynamicBody; bd.Position = p1; Body leftFlipper = m_world.CreateBody(bd); bd.Position = p2; Body rightFlipper = m_world.CreateBody(bd); PolygonShape box = new PolygonShape(); box.SetAsBox(1.75f, 0.1f); FixtureDef fd = new FixtureDef(); fd.shape = box; fd.Density = 1.0f; leftFlipper.CreateFixture(fd); rightFlipper.CreateFixture(fd); RevoluteJointDef jd = new RevoluteJointDef(); jd.bodyA = ground; jd.localAnchorB.SetZero(); jd.enableMotor = true; jd.maxMotorTorque = 1000.0f; jd.enableLimit = true; jd.motorSpeed = 0.0f; jd.localAnchorA = p1; jd.bodyB = leftFlipper; jd.lowerAngle = -30.0f * (float)Math.PI / 180.0f; jd.upperAngle = 5.0f * (float)Math.PI / 180.0f; m_leftJoint = (RevoluteJoint)m_world.CreateJoint(jd); jd.motorSpeed = 0.0f; jd.localAnchorA = p2; jd.bodyB = rightFlipper; jd.lowerAngle = -5.0f * (float)Math.PI / 180.0f; jd.upperAngle = 30.0f * (float)Math.PI / 180.0f; m_rightJoint = (RevoluteJoint)m_world.CreateJoint(jd); } // Circle character { BodyDef bd = new BodyDef(); bd.Position.Set(1.0f, 15.0f); bd.type = BodyType._dynamicBody; bd.bullet = true; m_ball = m_world.CreateBody(bd); CircleShape shape = new CircleShape(); shape.m_radius = 0.2f; FixtureDef fd = new FixtureDef(); fd.shape = shape; fd.Density = 1.0f; m_ball.CreateFixture(fd); } m_button = false; }
Bridge() { 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, 0.125f); FixtureDef fd = new FixtureDef(); fd.shape = shape; fd.Density = 20.0f; fd.friction = 0.2f; RevoluteJointDef jd = new RevoluteJointDef(); Body prevBody = ground; for (int i = 0; i < e_count; ++i) { BodyDef bd = new BodyDef(); bd.type = BodyType._dynamicBody; bd.Position.Set(-14.5f + 1.0f * i, 5.0f); Body body = m_world.CreateBody(bd); body.CreateFixture(fd); Vec2 anchor = new Vec2(-15.0f + 1.0f * i, 5.0f); jd.Initialize(prevBody, body, anchor); m_world.CreateJoint(jd); if (i == (e_count >> 1)) { m_middle = body; } prevBody = body; } Vec2 anchor2 = new Vec2(-15.0f + 1.0f * e_count, 5.0f); jd.Initialize(prevBody, ground, anchor2); m_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.type = BodyType._dynamicBody; bd.Position.Set(-8.0f + 8.0f * i, 12.0f); Body body = m_world.CreateBody(bd); body.CreateFixture(fd); } for (int i = 0; i < 3; ++i) { CircleShape shape = new CircleShape(); shape.m_radius = 0.5f; FixtureDef fd = new FixtureDef(); fd.shape = shape; fd.Density = 1.0f; BodyDef bd = new BodyDef(); bd.type = BodyType._dynamicBody; bd.Position.Set(-6.0f + 6.0f * i, 10.0f); Body body = m_world.CreateBody(bd); body.CreateFixture(fd); } }
public TheoJansen() { m_offset.Set(0.0f, 8.0f); m_motorSpeed = 2.0f; m_motorOn = true; Vec2 pivot = new Vec2(0.0f, 0.8f); // Ground { BodyDef bd = new BodyDef(); Body ground = m_world.CreateBody(bd); EdgeShape shape = new EdgeShape(); shape.Density = 0; shape.Set(new Vec2(-50.0f, 0.0f), new Vec2(50.0f, 0.0f)); ground.CreateFixture(shape); shape.Set(new Vec2(-50.0f, 0.0f), new Vec2(-50.0f, 10.0f)); ground.CreateFixture(shape); shape.Set(new Vec2(50.0f, 0.0f), new Vec2(50.0f, 10.0f)); ground.CreateFixture(shape); } // Balls for (int i = 0; i < 40; ++i) { CircleShape shape = new CircleShape(); shape.m_radius = 0.25f; BodyDef bd = new BodyDef(); bd.type = BodyType._dynamicBody; bd.Position.Set(-40.0f + 2.0f * i, 0.5f); Body body = m_world.CreateBody(bd); body.CreateFixture(shape); } // 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.type = BodyType._dynamicBody; bd.Position = pivot + m_offset; m_chassis = m_world.CreateBody(bd); m_chassis.CreateFixture(sd); } { CircleShape shape = new CircleShape(); shape.m_radius = 1.6f; FixtureDef sd = new FixtureDef(); sd.Density = 1.0f; sd.shape = shape; sd.Filter.GroupIndex = -1; BodyDef bd = new BodyDef(); bd.type = BodyType._dynamicBody; bd.Position = pivot + m_offset; m_wheel = m_world.CreateBody(bd); m_wheel.CreateFixture(sd); } { RevoluteJointDef jd = new RevoluteJointDef(); jd.Initialize(m_wheel, m_chassis, pivot + m_offset); jd.collideConnected = false; jd.motorSpeed = m_motorSpeed; jd.maxMotorTorque = 400.0f; jd.enableMotor = m_motorOn; m_motorJoint = (RevoluteJoint)m_world.CreateJoint(jd); } Vec2 wheelAnchor; wheelAnchor = pivot + new Vec2(0.0f, -0.8f); CreateLeg(-1.0f, wheelAnchor); CreateLeg(1.0f, wheelAnchor); m_wheel.SetTransform(m_wheel.GetPosition(), 120.0f * (float)Math.PI / 180.0f); CreateLeg(-1.0f, wheelAnchor); CreateLeg(1.0f, wheelAnchor); m_wheel.SetTransform(m_wheel.GetPosition(), -120.0f * (float)Math.PI / 180.0f); CreateLeg(-1.0f, wheelAnchor); CreateLeg(1.0f, wheelAnchor); }
public void LaunchBomb(Vec2 position, Vec2 velocity){ if (m_bomb != null) { m_world.DestroyBody(m_bomb); m_bomb = null; } BodyDef bd = new BodyDef(); bd.type = BodyType._dynamicBody; bd.Position = position; bd.bullet = true; m_bomb = m_world.CreateBody(bd); m_bomb.SetLinearVelocity(velocity); CircleShape circle = new CircleShape(); circle.m_radius = 0.3f; FixtureDef fd = new FixtureDef(); fd.shape = circle; fd.Density = 20.0f; fd.restitution = 0.0f; Vec2 minV = position - new Vec2(0.3f,0.3f); Vec2 maxV = position + new Vec2(0.3f, 0.3f); AABB aabb; aabb.lowerBound = minV; aabb.upperBound = maxV; m_bomb.CreateFixture(fd); }
DumpShell() { Vec2 g = new Vec2(0, 0); m_world.SetGravity(g); List<Body> bodies = new List<Body>(); List<Joint> joints = new List<Joint>(); { BodyDef bd = new BodyDef(); bd.type = (BodyType)2; bd.Position.Set(3.000000000000000e+001f, 6.909857940673828e+001f); bd.angle = 0.000000000000000e+000f; bd.linearVelocity.Set(0.000000000000000e+000f, -8.618643951416016e+001f); bd.angularVelocity = 0.000000000000000e+000f; bd.linearDamping = 0.000000000000000e+000f; bd.angularDamping = 0.000000000000000e+000f; bd.allowSleep = true; bd.awake = true; bd.fixedRotation = true; bd.bullet = false; bd.active = true; bd.gravityScale = 1.000000000000000e+000f; bodies.Add(m_world.CreateBody(bd)); { FixtureDef fd = new FixtureDef(); fd.friction = 6.000000238418579e-001f; fd.restitution = 0.000000000000000e+000f; fd.Density = 5.000000000000000e-001f; fd.IsSensor = false; fd.Filter.CategoryBits = (ushort)(1); fd.Filter.MaskBits = (ushort)(2); fd.Filter.GroupIndex = (short)(0); PolygonShape shape = new PolygonShape(); Vec2[] vs = new Vec2[8]; vs[0].Set(-1.950000047683716e+000f, -4.750000000000000e+000f); vs[1].Set(1.950000047683716e+000f, -4.750000000000000e+000f); vs[2].Set(1.950000047683716e+000f, 4.750000000000000e+000f); vs[3].Set(-1.950000047683716e+000f, 4.750000000000000e+000f); shape.Set(vs, 4); fd.shape = shape; bodies[0].CreateFixture(fd); } } { BodyDef bd = new BodyDef(); bd.type = (BodyType)(0); bd.Position.Set(5.120000457763672e+001f, 7.580000305175781e+001f); bd.angle = 0.000000000000000e+000f; bd.linearVelocity.Set(0.000000000000000e+000f, 0.000000000000000e+000f); bd.angularVelocity = 0.000000000000000e+000f; bd.linearDamping = 0.000000000000000e+000f; bd.angularDamping = 0.000000000000000e+000f; bd.allowSleep = true; bd.awake = true; bd.fixedRotation = false; bd.bullet = false; bd.active = true; bd.gravityScale = 1.000000000000000e+000f; bodies.Add(m_world.CreateBody(bd)); { FixtureDef fd = new FixtureDef(); fd.friction = 0.000000000000000e+000f; fd.restitution = 0.000000000000000e+000f; fd.Density = 1.000000000000000e+000f; fd.IsSensor = false; fd.Filter.CategoryBits = (ushort)(2); fd.Filter.MaskBits = (ushort)(65535); fd.Filter.GroupIndex = (short)(0); PolygonShape shape = new PolygonShape(); Vec2[] vs = new Vec2[8]; vs[0].Set(-5.120000076293945e+001f, -5.000000000000000e-001f); vs[1].Set(5.120000076293945e+001f, -5.000000000000000e-001f); vs[2].Set(5.120000076293945e+001f, 5.000000000000000e-001f); vs[3].Set(-5.120000076293945e+001f, 5.000000000000000e-001f); shape.Set(vs, 4); fd.shape = shape; bodies[1].CreateFixture(fd); } } joints = null; bodies = null; }
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); }
public VaryingFriction() { { BodyDef bd = new BodyDef(); Body 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(13.0f, 0.25f); BodyDef bd = new BodyDef(); bd.Position.Set(-4.0f, 22.0f); bd.angle = -0.25f; Body ground = m_world.CreateBody(bd); shape.Density = 0; ground.CreateFixture(shape); } { PolygonShape shape = new PolygonShape(); shape.SetAsBox(0.25f, 1.0f); shape.Density = 0; BodyDef bd = new BodyDef(); bd.Position.Set(10.5f, 19.0f); Body ground = m_world.CreateBody(bd); ground.CreateFixture(shape); } { PolygonShape shape = new PolygonShape(); shape.SetAsBox(13.0f, 0.25f); shape.Density = 0; BodyDef bd = new BodyDef(); bd.Position.Set(4.0f, 14.0f); bd.angle = 0.25f; Body ground = m_world.CreateBody(bd); ground.CreateFixture(shape); } { PolygonShape shape = new PolygonShape(); shape.SetAsBox(0.25f, 1.0f); shape.Density = 0; BodyDef bd = new BodyDef(); bd.Position.Set(-10.5f, 11.0f); Body ground = m_world.CreateBody(bd); ground.CreateFixture(shape); } { PolygonShape shape = new PolygonShape(); shape.SetAsBox(13.0f, 0.25f); shape.Density = 0; BodyDef bd = new BodyDef(); bd.Position.Set(-4.0f, 6.0f); bd.angle = -0.25f; Body ground = m_world.CreateBody(bd); ground.CreateFixture(shape); } { PolygonShape shape = new PolygonShape(); shape.SetAsBox(0.5f, 0.5f); FixtureDef fd = new FixtureDef(); fd.shape = shape; fd.Density = 25.0f; float[] friction = new float[]{ 0.75f, 0.5f, 0.35f, 0.1f, 0.0f }; for (int i = 0; i < 5; ++i) { BodyDef bd = new BodyDef(); bd.type = BodyType._dynamicBody; bd.Position.Set(-15.0f + 4.0f * i, 28.0f); Body body = m_world.CreateBody(bd); fd.friction = friction[i]; body.CreateFixture(fd); } } }
public void Create(int index) { if (m_bodies[m_bodyIndex] != null) { m_world.DestroyBody(m_bodies[m_bodyIndex]); m_bodies[m_bodyIndex] = null; } BodyDef bd = new BodyDef(); float x = RandomFloat(-10.0f, 10.0f); float y = RandomFloat(10.0f, 20.0f); bd.Position.Set(x, y); bd.angle = RandomFloat(-(float)Math.PI, (float)Math.PI); bd.type = BodyType._dynamicBody; if (index == 4) { bd.angularDamping = 0.02f; } m_bodies[m_bodyIndex] = m_world.CreateBody(bd); if (index < 4) { FixtureDef fd = new FixtureDef(); fd.shape = m_polygons[index]; fd.friction = 0.3f; fd.Density = 20.0f; m_bodies[m_bodyIndex].CreateFixture(fd); } else { FixtureDef fd = new FixtureDef(); fd.shape = m_circle; fd.friction = 0.3f; fd.Density = 20.0f; m_bodies[m_bodyIndex].CreateFixture(fd); } m_bodyIndex = (m_bodyIndex + 1) % e_maxBodies; }
public Revolute() { 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)); FixtureDef fd = new FixtureDef(); fd.shape = shape; //fd.Filter.CategoryBits = 2; ground.CreateFixture(fd); } { CircleShape shape = new CircleShape(); shape.m_radius = 0.5f; shape.Density = 5; BodyDef bd = new BodyDef(); bd.type = BodyType._dynamicBody; RevoluteJointDef rjd = new RevoluteJointDef(); bd.Position.Set(-10.0f, 20.0f); Body body = m_world.CreateBody(bd); body.CreateFixture(shape); float w = 100.0f; body.SetAngularVelocity(w); body.SetLinearVelocity(new Vec2(-8.0f * w, 0.0f)); rjd.Initialize(ground, body, new Vec2(-10.0f, 12.0f)); rjd.motorSpeed = 1.0f * (float)Math.PI; rjd.maxMotorTorque = 10000.0f; rjd.enableMotor = false; rjd.lowerAngle = -0.25f * (float)Math.PI; rjd.upperAngle = 0.5f * (float)Math.PI; rjd.enableLimit = true; rjd.collideConnected = true; m_joint = (RevoluteJoint)m_world.CreateJoint(rjd); } { CircleShape circle_shape = new CircleShape(); circle_shape.m_radius = 3.0f; BodyDef circle_bd = new BodyDef(); circle_bd.type = BodyType._dynamicBody; circle_bd.Position.Set(5.0f, 30.0f); FixtureDef fd = new FixtureDef(); fd.Density = 5.0f; fd.Filter.MaskBits = 1; fd.shape = circle_shape; m_ball = m_world.CreateBody(circle_bd); m_ball.CreateFixture(fd); PolygonShape polygon_shape = new PolygonShape(); polygon_shape.SetAsBox(10.0f, 0.2f, new Vec2(-10.0f, 0.0f), 0.0f); polygon_shape.Density = 2; BodyDef polygon_bd = new BodyDef(); polygon_bd.Position.Set(20.0f, 10.0f); polygon_bd.type = BodyType._dynamicBody; polygon_bd.bullet = true; Body polygon_body = m_world.CreateBody(polygon_bd); polygon_body.CreateFixture(polygon_shape); RevoluteJointDef rjd = new RevoluteJointDef(); rjd.Initialize(ground, polygon_body, new Vec2(20.0f, 10.0f)); rjd.lowerAngle = -0.25f * (float)Math.PI; rjd.upperAngle = 0.0f * (float)Math.PI; rjd.enableLimit = true; m_world.CreateJoint(rjd); } // Tests mass computation of a small object far from the origin { BodyDef bodyDef = new BodyDef(); bodyDef.type = BodyType._dynamicBody; Body body = m_world.CreateBody(bodyDef); PolygonShape polyShape = new PolygonShape(); Vec2[] verts = new Vec2[3]; verts[0].Set( 17.63f, 36.31f ); verts[1].Set( 17.52f, 36.69f ); verts[2].Set( 17.19f, 36.36f ); polyShape.Set(verts, 3); FixtureDef polyFixtureDef = new FixtureDef(); polyFixtureDef.shape = polyShape; polyFixtureDef.Density = 1; body.CreateFixture(polyFixtureDef); //assertion hits inside here } }
public Car() { m_hz = 4.0f; m_zeta = 0.7f; m_speed = 50.0f; Body ground = null; { BodyDef bd = new BodyDef(); ground = m_world.CreateBody(bd); EdgeShape shape = new EdgeShape(); FixtureDef fd = new FixtureDef(); fd.shape = shape; fd.Density = 0.0f; fd.friction = 0.6f; shape.Set(new Vec2(-20.0f, 0.0f), new Vec2(20.0f, 0.0f)); ground.CreateFixture(fd); 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]; shape.Set(new Vec2(x, y1), new Vec2(x + dx, y2)); ground.CreateFixture(fd); y1 = y2; x += dx; } for (int i = 0; i < 10; ++i) { float y2 = hs[i]; shape.Set(new Vec2(x, y1), new Vec2(x + dx, y2)); ground.CreateFixture(fd); y1 = y2; x += dx; } shape.Set(new Vec2(x, 0.0f), new Vec2(x + 40.0f, 0.0f)); ground.CreateFixture(fd); x += 80.0f; shape.Set(new Vec2(x, 0.0f), new Vec2(x + 40.0f, 0.0f)); ground.CreateFixture(fd); x += 40.0f; shape.Set(new Vec2(x, 0.0f), new Vec2(x + 10.0f, 5.0f)); ground.CreateFixture(fd); x += 20.0f; shape.Set(new Vec2(x, 0.0f), new Vec2(x + 40.0f, 0.0f)); ground.CreateFixture(fd); x += 40.0f; shape.Set(new Vec2(x, 0.0f), new Vec2(x, 20.0f)); ground.CreateFixture(fd); } // Teeter { BodyDef bd = new BodyDef(); bd.Position.Set(140.0f, 1.0f); bd.type = BodyType._dynamicBody; Body body = m_world.CreateBody(bd); PolygonShape box = new PolygonShape(); box.SetAsBox(10.0f, 0.25f); box.Density = 1; body.CreateFixture(box); RevoluteJointDef jd = new RevoluteJointDef(); jd.Initialize(ground, body, body.GetPosition()); jd.lowerAngle = -8.0f * (float)Math.PI / 180.0f; jd.upperAngle = 8.0f * (float)Math.PI / 180.0f; jd.enableLimit = true; m_world.CreateJoint(jd); body.ApplyAngularImpulse(100.0f, true); } // Bridge { int N = 20; PolygonShape shape = new PolygonShape(); shape.SetAsBox(1.0f, 0.125f); FixtureDef fd = new FixtureDef(); fd.shape = shape; fd.Density = 1.0f; fd.friction = 0.6f; RevoluteJointDef jd = new RevoluteJointDef(); Body prevBody = ground; for (int i = 0; i < N; ++i) { BodyDef bd = new BodyDef(); bd.type = BodyType._dynamicBody; bd.Position.Set(161.0f + 2.0f * i, -0.125f); Body body = m_world.CreateBody(bd); body.CreateFixture(fd); Vec2 anchor = new Vec2(160.0f + 2.0f * i, -0.125f); jd.Initialize(prevBody, body, anchor); m_world.CreateJoint(jd); prevBody = body; } Vec2 anchor2 = new Vec2(160.0f + 2.0f * N, -0.125f); jd.Initialize(prevBody, ground, anchor2); m_world.CreateJoint(jd); } // Boxes { PolygonShape box = new PolygonShape(); box.SetAsBox(0.5f, 0.5f); box.Density = 0.5f; Body body = null; BodyDef bd = new BodyDef(); bd.type = BodyType._dynamicBody; bd.Position.Set(230.0f, 0.5f); body = m_world.CreateBody(bd); body.CreateFixture(box); bd.Position.Set(230.0f, 1.5f); body = m_world.CreateBody(bd); body.CreateFixture(box); bd.Position.Set(230.0f, 2.5f); body = m_world.CreateBody(bd); body.CreateFixture(box); bd.Position.Set(230.0f, 3.5f); body = m_world.CreateBody(bd); body.CreateFixture(box); bd.Position.Set(230.0f, 4.5f); body = m_world.CreateBody(bd); body.CreateFixture(box); } // Car { PolygonShape chassis = new PolygonShape(); Vec2[] vertices = new Vec2[8]; vertices[0].Set(-1.5f, -0.5f); vertices[1].Set(1.5f, -0.5f); vertices[2].Set(1.5f, 0.0f); vertices[3].Set(0.0f, 0.9f); vertices[4].Set(-1.15f, 0.9f); vertices[5].Set(-1.5f, 0.2f); chassis.Set(vertices, 6); CircleShape circle = new CircleShape(); circle.m_radius = 0.4f; BodyDef bd = new BodyDef(); bd.type = BodyType._dynamicBody; bd.Position.Set(0.0f, 1.0f); m_car = m_world.CreateBody(bd); m_car.CreateFixture(chassis); FixtureDef fd = new FixtureDef(); fd.shape = circle; fd.Density = 1.0f; fd.friction = 0.9f; bd.Position.Set(-1.0f, 0.35f); m_wheel1 = m_world.CreateBody(bd); m_wheel1.CreateFixture(fd); bd.Position.Set(1.0f, 0.4f); m_wheel2 = m_world.CreateBody(bd); m_wheel2.CreateFixture(fd); WheelJointDef jd = new WheelJointDef(); Vec2 axis = new Vec2(0.0f, 1.0f); jd.Initialize(m_car, m_wheel1, m_wheel1.GetPosition(), axis); jd.motorSpeed = 0.0f; jd.maxMotorTorque = 20.0f; jd.enableMotor = true; jd.frequencyHz = m_hz; jd.dampingRatio = m_zeta; m_spring1 = (WheelJoint)m_world.CreateJoint(jd); jd.Initialize(m_car, m_wheel2, m_wheel2.GetPosition(), axis); jd.motorSpeed = 0.0f; jd.maxMotorTorque = 10.0f; jd.enableMotor = false; jd.frequencyHz = m_hz; jd.dampingRatio = m_zeta; m_spring2 = (WheelJoint)m_world.CreateJoint(jd); } }
public CharacterCollision() { // Ground body { BodyDef bd = new BodyDef(); Body ground = m_world.CreateBody(bd); EdgeShape shape = new EdgeShape(); shape.Set(new Vec2(-20.0f, 0.0f), new Vec2(20.0f, 0.0f)); shape.Density = 0; ground.CreateFixture(shape); } // Collinear edges with no adjacency information. // This shows the problematic case where a box shape can hit // an internal vertex. { BodyDef bd = new BodyDef(); Body ground = m_world.CreateBody(bd); EdgeShape shape = new EdgeShape(); shape.Density = 0; shape.Set(new Vec2(-8.0f, 1.0f), new Vec2(-6.0f, 1.0f)); ground.CreateFixture(shape); shape.Set(new Vec2(-6.0f, 1.0f), new Vec2(-4.0f, 1.0f)); ground.CreateFixture(shape); shape.Set(new Vec2(-4.0f, 1.0f), new Vec2(-2.0f, 1.0f)); ground.CreateFixture(shape); } // Chain shape { BodyDef bd = new BodyDef(); bd.angle = 0.25f * (float)Math.PI; Body ground = m_world.CreateBody(bd); Vec2[] vs = new Vec2[4]; vs[0].Set(5.0f, 7.0f); vs[1].Set(6.0f, 8.0f); vs[2].Set(7.0f, 8.0f); vs[3].Set(8.0f, 7.0f); ChainShape shape = new ChainShape(); shape.CreateChain(vs, 4); shape.Density = 0; ground.CreateFixture(shape); } // Square tiles. This shows that adjacency shapes may // have non-smooth collision. There is no solution // to this problem. { BodyDef bd = new BodyDef(); Body ground = m_world.CreateBody(bd); PolygonShape shape = new PolygonShape(); shape.Density = 0; shape.SetAsBox(1.0f, 1.0f, new Vec2(4.0f, 3.0f), 0.0f); ground.CreateFixture(shape); shape.SetAsBox(1.0f, 1.0f, new Vec2(6.0f, 3.0f), 0.0f); ground.CreateFixture(shape); shape.SetAsBox(1.0f, 1.0f, new Vec2(8.0f, 3.0f), 0.0f); ground.CreateFixture(shape); } // Square made from an edge loop. Collision should be smooth. { BodyDef bd = new BodyDef(); Body ground = m_world.CreateBody(bd); Vec2[] vs = new Vec2[4]; vs[0].Set(-1.0f, 3.0f); vs[1].Set(1.0f, 3.0f); vs[2].Set(1.0f, 5.0f); vs[3].Set(-1.0f, 5.0f); ChainShape shape = new ChainShape(); shape.CreateLoop(vs, 4); shape.Density = 0; ground.CreateFixture(shape); } // Edge loop. Collision should be smooth. { BodyDef bd = new BodyDef(); bd.Position.Set(-10.0f, 4.0f); Body ground = m_world.CreateBody(bd); Vec2[] vs = new Vec2[10]; vs[0].Set(0.0f, 0.0f); vs[1].Set(6.0f, 0.0f); vs[2].Set(6.0f, 2.0f); vs[3].Set(4.0f, 1.0f); vs[4].Set(2.0f, 2.0f); vs[5].Set(0.0f, 2.0f); vs[6].Set(-2.0f, 2.0f); vs[7].Set(-4.0f, 3.0f); vs[8].Set(-6.0f, 2.0f); vs[9].Set(-6.0f, 0.0f); ChainShape shape = new ChainShape(); shape.CreateLoop(vs, 10); shape.Density = 0; ground.CreateFixture(shape); } // Square character 1 { BodyDef bd = new BodyDef(); bd.Position.Set(-3.0f, 8.0f); bd.type = BodyType._dynamicBody; bd.fixedRotation = true; bd.allowSleep = false; Body body = m_world.CreateBody(bd); PolygonShape shape = new PolygonShape(); shape.SetAsBox(0.5f, 0.5f); FixtureDef fd = new FixtureDef(); fd.shape = shape; fd.Density = 20.0f; body.CreateFixture(fd); } // Square character 2 { BodyDef bd = new BodyDef(); bd.Position.Set(-5.0f, 5.0f); bd.type = BodyType._dynamicBody; bd.fixedRotation = true; bd.allowSleep = false; Body body = m_world.CreateBody(bd); PolygonShape shape = new PolygonShape(); shape.SetAsBox(0.25f, 0.25f); FixtureDef fd = new FixtureDef(); fd.shape = shape; fd.Density = 20.0f; body.CreateFixture(fd); } // Hexagon character { BodyDef bd = new BodyDef(); bd.Position.Set(-5.0f, 8.0f); bd.type = BodyType._dynamicBody; bd.fixedRotation = true; bd.allowSleep = false; Body body = m_world.CreateBody(bd); float angle = 0.0f; float delta = (float)Math.PI / 3.0f; Vec2[] vertices = new Vec2[6]; for (int i = 0; i < 6; ++i) { vertices[i].Set(0.5f * (float)Math.Cos(angle), 0.5f * (float)Math.Sin(angle)); angle += delta; } PolygonShape shape = new PolygonShape(); shape.Set(vertices, 6); FixtureDef fd = new FixtureDef(); fd.shape = shape; fd.Density = 20.0f; body.CreateFixture(fd); } // Circle character { BodyDef bd = new BodyDef(); bd.Position.Set(3.0f, 5.0f); bd.type = BodyType._dynamicBody; bd.fixedRotation = true; bd.allowSleep = false; Body body = m_world.CreateBody(bd); CircleShape shape = new CircleShape(); shape.m_radius = 0.5f; FixtureDef fd = new FixtureDef(); fd.shape = shape; fd.Density = 20.0f; body.CreateFixture(fd); } // Circle character { BodyDef bd = new BodyDef(); bd.Position.Set(-7.0f, 6.0f); bd.type = BodyType._dynamicBody; bd.allowSleep = false; m_character = m_world.CreateBody(bd); CircleShape shape = new CircleShape(); shape.m_radius = 0.25f; FixtureDef fd = new FixtureDef(); fd.shape = shape; fd.Density = 20.0f; fd.friction = 1.0f; m_character.CreateFixture(fd); } }
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); } } }
// We need separation create/destroy functions from the constructor/destructor because // the destructor cannot access the allocator (no destructor arguments allowed by C++). internal void Create(Body body, FixtureDef def){ m_userData = def.UserData; m_friction = def.friction; m_restitution = def.restitution; m_body = body; m_next = null; m_filter = def.Filter; m_isSensor = def.IsSensor; m_shape = def.shape.Clone(); // Reserve proxy space int childCount = m_shape.GetChildCount(); m_proxies = new List<FixtureProxy>(); m_Density = def.Density; }
public CollisionFiltering() { // Ground body { EdgeShape shape = new EdgeShape(); shape.Set(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f)); FixtureDef sd = new FixtureDef(); sd.shape = shape; sd.friction = 0.3f; BodyDef bd = new BodyDef(); Body ground = m_world.CreateBody(bd); ground.CreateFixture(sd); } // Small triangle Vec2[] vertices = new Vec2[3]; vertices[0].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.type = BodyType._dynamicBody; triangleBodyDef.Position.Set(-5.0f, 2.0f); Body body1 = m_world.CreateBody(triangleBodyDef); body1.CreateFixture(triangleShapeDef); // Large triangle (recycle definitions) vertices[0] *= 2.0f; vertices[1] *= 2.0f; vertices[2] *= 2.0f; polygon.Set(vertices, 3); triangleShapeDef.Filter.GroupIndex = k_largeGroup; triangleBodyDef.Position.Set(-5.0f, 6.0f); triangleBodyDef.fixedRotation = true; // look at me! Body body2 = m_world.CreateBody(triangleBodyDef); body2.CreateFixture(triangleShapeDef); { BodyDef bd = new BodyDef(); bd.type = BodyType._dynamicBody; bd.Position.Set(-5.0f, 10.0f); Body body = m_world.CreateBody(bd); PolygonShape p = new PolygonShape(); p.SetAsBox(0.5f, 1.0f); body.CreateFixture(p); PrismaticJointDef jd = new PrismaticJointDef(); jd.bodyA = body2; jd.bodyB = body; jd.enableLimit = true; jd.localAnchorA.Set(0.0f, 4.0f); jd.localAnchorB.SetZero(); jd.localAxisA.Set(0.0f, 1.0f); jd.lowerTranslation = -1.0f; jd.upperTranslation = 1.0f; m_world.CreateJoint(jd); } // Small box polygon.SetAsBox(1.0f, 0.5f); FixtureDef boxShapeDef = new FixtureDef(); boxShapeDef.shape = polygon; boxShapeDef.Density = 1.0f; boxShapeDef.restitution = 0.1f; boxShapeDef.Filter.GroupIndex = k_smallGroup; boxShapeDef.Filter.CategoryBits = k_boxCategory; boxShapeDef.Filter.MaskBits = k_boxMask; BodyDef boxBodyDef = new BodyDef(); boxBodyDef.type = BodyType._dynamicBody; boxBodyDef.Position.Set(0.0f, 2.0f); Body body3 = m_world.CreateBody(boxBodyDef); body3.CreateFixture(boxShapeDef); // Large box (recycle definitions) polygon.SetAsBox(2.0f, 1.0f); boxShapeDef.Filter.GroupIndex = k_largeGroup; boxBodyDef.Position.Set(0.0f, 6.0f); Body body4 = m_world.CreateBody(boxBodyDef); body4.CreateFixture(boxShapeDef); // Small circle CircleShape circle = new CircleShape(); circle.m_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.type = BodyType._dynamicBody; circleBodyDef.Position.Set(5.0f, 2.0f); Body body5 = m_world.CreateBody(circleBodyDef); body5.CreateFixture(circleShapeDef); // Large circle circle.m_radius *= 2.0f; circleShapeDef.Filter.GroupIndex = k_largeGroup; circleBodyDef.Position.Set(5.0f, 6.0f); Body body6 = m_world.CreateBody(circleBodyDef); body6.CreateFixture(circleShapeDef); }
public ApplyForce() { m_world.SetGravity(new Vec2(0.0f, 0.0f)); const float k_restitution = 0.4f; Body ground; { BodyDef bd = new BodyDef(); bd.Position.Set(0.0f, 20.0f); ground = m_world.CreateBody(bd); EdgeShape shape = new EdgeShape(); FixtureDef sd = new FixtureDef(); sd.shape = shape; sd.Density = 0.0f; sd.restitution = k_restitution; // Left vertical shape.Set(new Vec2(-20.0f, -20.0f), new Vec2(-20.0f, 20.0f)); ground.CreateFixture(sd); // Right vertical shape.Set(new Vec2(20.0f, -20.0f), new Vec2(20.0f, 20.0f)); ground.CreateFixture(sd); // Top horizontal shape.Set(new Vec2(-20.0f, 20.0f), new Vec2(20.0f, 20.0f)); ground.CreateFixture(sd); // Bottom horizontal shape.Set(new Vec2(-20.0f, -20.0f), new Vec2(20.0f, -20.0f)); ground.CreateFixture(sd); } { Transform xf1 = new Transform(); xf1.q.Set(0.3524f * (float)Math.PI); xf1.p = xf1.q.GetXAxis(); Vec2[] vertices = new Vec2[3]; vertices[0] = Utilities.Mul(xf1, new Vec2(-1.0f, 0.0f)); vertices[1] = Utilities.Mul(xf1, new Vec2(1.0f, 0.0f)); vertices[2] = Utilities.Mul(xf1, new Vec2(0.0f, 0.5f)); PolygonShape poly1 = new PolygonShape(); poly1.Set(vertices, 3); FixtureDef sd1 = new FixtureDef(); sd1.shape = poly1; sd1.Density = 4.0f; Transform xf2 = new Transform(); xf2.q.Set(-0.3524f * (float)Math.PI); xf2.p = -xf2.q.GetXAxis(); vertices[0] = Utilities.Mul(xf2, new Vec2(-1.0f, 0.0f)); vertices[1] = Utilities.Mul(xf2, new Vec2(1.0f, 0.0f)); vertices[2] = Utilities.Mul(xf2, new Vec2(0.0f, 0.5f)); PolygonShape poly2 = new PolygonShape(); poly2.Set(vertices, 3); FixtureDef sd2 = new FixtureDef(); sd2.shape = poly2; sd2.Density = 2.0f; BodyDef bd = new BodyDef(); bd.type = BodyType._dynamicBody; bd.angularDamping = 5.0f; bd.linearDamping = 0.1f; bd.Position.Set(0.0f, 2.0f); bd.angle = (float)Math.PI; bd.allowSleep = false; m_body = m_world.CreateBody(bd); m_body.CreateFixture(sd1); m_body.CreateFixture(sd2); } { PolygonShape shape = new PolygonShape(); shape.SetAsBox(0.5f, 0.5f); FixtureDef fd = new FixtureDef(); fd.shape = shape; fd.Density = 1.0f; fd.friction = 0.3f; for (int i = 0; i < 10; ++i) { BodyDef bd = new BodyDef(); bd.type = BodyType._dynamicBody; bd.Position.Set(0.0f, 5.0f + 1.54f * i); Body body = m_world.CreateBody(bd); body.CreateFixture(fd); float gravity = 10.0f; float I = body.GetInertia(); float mass = body.GetMass(); // For a circle: I = 0.5 * m * r * r ==> r = sqrt(2 * I / m) float radius = (float)Math.Sqrt(2.0f * I / mass); FrictionJointDef jd = new FrictionJointDef(); jd.localAnchorA.SetZero(); jd.localAnchorB.SetZero(); jd.bodyA = ground; jd.bodyB = body; jd.collideConnected = true; jd.maxForce = mass * gravity; jd.maxTorque = mass * radius * gravity; m_world.CreateJoint(jd); } } }
public CollisionProcessing() { // Ground body { EdgeShape shape = new EdgeShape(); shape.Set(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 = m_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.type = BodyType._dynamicBody; triangleBodyDef.Position.Set(RandomFloat(xLo, xHi), RandomFloat(yLo, yHi)); Body body1 = m_world.CreateBody(triangleBodyDef); body1.CreateFixture(triangleShapeDef); // Large triangle (recycle definitions) vertices[0] *= 2.0f; vertices[1] *= 2.0f; vertices[2] *= 2.0f; polygon.Set(vertices, 3); triangleBodyDef.Position.Set(RandomFloat(xLo, xHi), RandomFloat(yLo, yHi)); Body body2 = m_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.type = BodyType._dynamicBody; boxBodyDef.Position.Set(RandomFloat(xLo, xHi), RandomFloat(yLo, yHi)); Body body3 = m_world.CreateBody(boxBodyDef); body3.CreateFixture(boxShapeDef); // Large box (recycle definitions) polygon.SetAsBox(2.0f, 1.0f); boxBodyDef.Position.Set(RandomFloat(xLo, xHi), RandomFloat(yLo, yHi)); Body body4 = m_world.CreateBody(boxBodyDef); body4.CreateFixture(boxShapeDef); // Small circle CircleShape circle = new CircleShape(); circle.m_radius = 1.0f; FixtureDef circleShapeDef = new FixtureDef(); circleShapeDef.shape = circle; circleShapeDef.Density = 1.0f; BodyDef circleBodyDef = new BodyDef(); circleBodyDef.type = BodyType._dynamicBody; circleBodyDef.Position.Set(RandomFloat(xLo, xHi), RandomFloat(yLo, yHi)); Body body5 = m_world.CreateBody(circleBodyDef); body5.CreateFixture(circleShapeDef); // Large circle circle.m_radius *= 2.0f; circleBodyDef.Position.Set(RandomFloat(xLo, xHi), RandomFloat(yLo, yHi)); Body body6 = m_world.CreateBody(circleBodyDef); body6.CreateFixture(circleShapeDef); }