public Confined() { { BodyDef bd = new BodyDef(); Body ground = _world.CreateBody(bd); PolygonShape shape = new PolygonShape(); // Floor shape.SetAsEdge(new Vec2(-10.0f, 0.0f), new Vec2(40.0f, 0.0f)); ground.CreateFixture(shape, 0); // Left wall shape.SetAsEdge(new Vec2(-10.0f, 0.0f), new Vec2(-10.0f, 20.0f)); ground.CreateFixture(shape, 0); // Right wall shape.SetAsEdge(new Vec2(10.0f, 0.0f), new Vec2(10.0f, 20.0f)); ground.CreateFixture(shape, 0); // Roof shape.SetAsEdge(new Vec2(-10.0f, 20.0f), new Vec2(10.0f, 20.0f)); ground.CreateFixture(shape, 0); } { float radius = 0.5f; CircleShape shape = new CircleShape(); shape._p.SetZero(); shape._radius = radius; FixtureDef fd = new FixtureDef(); fd.Shape = shape; fd.Density = 1.0f; fd.Friction = 0.1f; for (int j = 0; j < _columnCount; ++j) { for (int i = 0; i < _rowCount; ++i) { BodyDef bd = new BodyDef(); bd.Position.Set(-10.0f + (2.1f * j + 1.0f + 0.01f * i) * radius, (2.0f * i + 1.0f) * radius); Body body = _world.CreateBody(bd); body.CreateFixture(fd); } } } _world.Gravity = new Vec2(0, 0); }
public Breakable() { // Ground body { BodyDef bd = new BodyDef(); Body ground = _world.CreateBody(bd); PolygonShape shape = new PolygonShape(); shape.SetAsEdge(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f)); ground.CreateFixture(shape, 0); } // Breakable dynamic body { BodyDef bd = new BodyDef(); bd.Position.Set(0.0f, 40.0f); bd.Angle = 0.25f * Box2DX.Common.Settings.PI; _body1 = _world.CreateBody(bd); _shape1.SetAsBox(0.5f, 0.5f, new Vec2(-0.5f, 0.0f), 0.0f); _piece1 = _body1.CreateFixture(_shape1, 1.0f); _shape2.SetAsBox(0.5f, 0.5f, new Vec2(0.5f, 0.0f), 0.0f); _piece2 = _body1.CreateFixture(_shape2, 1.0f); } _break = false; _broke = false; }
public SphereStack() { { BodyDef bd = new BodyDef(); Body ground = _world.CreateBody(bd); PolygonShape shape = new PolygonShape(); shape.SetAsEdge(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f)); ground.CreateFixture(shape, 0); } { CircleShape shape = new CircleShape(); shape._radius = 1.0f; for (int i = 0; i < _count; ++i) { BodyDef bd = new BodyDef(); bd.Position.Set(0.0f, 4.0f + 3.0f * i); _bodies[i] = _world.CreateBody(bd); _bodies[i].CreateFixture(shape, 1.0f); //m_bodies[i]->SetLinearVelocity(b2Vec2(0.0f, -100.0f)); } } }
public VaryingRestitution() { { BodyDef bd = new BodyDef(); Body ground = _world.CreateBody(bd); PolygonShape shape = new PolygonShape(); shape.SetAsEdge(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f)); ground.CreateFixture(shape, 0); } { CircleShape shape = new CircleShape(); shape._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.Position.Set(-10.0f + 3.0f * i, 20.0f); Body body = _world.CreateBody(bd); fd.Restitution = restitution[i]; body.CreateFixture(fd); } } }
// Polygon versus 2-sided edge. public static void CollidePolyAndEdge(ref Manifold manifold, PolygonShape polygon, Transform TransformA, EdgeShape edge, Transform TransformB) { PolygonShape polygonB = new PolygonShape(); polygonB.SetAsEdge(edge._v1, edge._v2); CollidePolygons(ref manifold, polygon, TransformA, polygonB, TransformB); }
public SensorTest() { { BodyDef bd = new BodyDef(); Body ground = _world.CreateBody(bd); { PolygonShape shape = new PolygonShape(); shape.SetAsEdge(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f)); ground.CreateFixture(shape, 0); } #if false { b2FixtureDef sd; sd.SetAsBox(10.0f, 2.0f, b2Vec2(0.0f, 20.0f), 0.0f); sd.isSensor = true; m_sensor = ground->CreateFixture(&sd); } #else { CircleShape shape = new CircleShape(); shape._radius = 5.0f; shape._p.Set(0.0f, 10.0f); FixtureDef fd = new FixtureDef(); fd.Shape = shape; fd.IsSensor = true; _sensor = ground.CreateFixture(fd); } #endif } { CircleShape shape = new CircleShape(); shape._radius = 1.0f; for (int i = 0; i < _count; ++i) { BodyDef bd = new BodyDef(); bd.Position.Set(-10.0f + 3.0f * i, 20.0f); bd.UserData = false; _bodies[i] = _world.CreateBody(bd); _bodies[i].CreateFixture(shape, 1.0f); } } }
public Chain() { Body ground = null; { BodyDef bd = new BodyDef(); ground = _world.CreateBody(bd); PolygonShape shape = new PolygonShape(); shape.SetAsEdge(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f)); ground.CreateFixture(shape, 0); } { PolygonShape shape = new PolygonShape(); shape.SetAsBox(0.6f, 0.125f); FixtureDef fd = new FixtureDef(); fd.Shape = shape; fd.Density = 20.0f; fd.Friction = 0.2f; RevoluteJointDef jd = new RevoluteJointDef(); jd.CollideConnected = false; const float y = 25.0f; Body prevBody = ground; for (int i = 0; i < 30; ++i) { BodyDef bd = new BodyDef(); bd.Position.Set(0.5f + i, y); Body body = _world.CreateBody(bd); body.CreateFixture(fd); Vec2 anchor = new Vec2(i, y); jd.Initialize(prevBody, body, anchor); _world.CreateJoint(jd); prevBody = body; } } }
public Pulleys() { Body ground = null; { BodyDef bd = new BodyDef(); ground = _world.CreateBody(bd); PolygonShape shape = new PolygonShape(); shape.SetAsEdge(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f)); ground.CreateFixture(shape, 0); } { float a = 2.0f; float b = 4.0f; float y = 16.0f; float L = 12.0f; PolygonShape shape = new PolygonShape(); shape.SetAsBox(a, b); BodyDef bd = new BodyDef(); bd.Position.Set(-10.0f, y); Body body1 = _world.CreateBody(bd); body1.CreateFixture(shape, 5.0f); bd.Position.Set(10.0f, y); Body body2 = _world.CreateBody(bd); body2.CreateFixture(shape, 5.0f); PulleyJointDef pulleyDef = new PulleyJointDef(); Vec2 anchor1 = new Vec2(-10.0f, y + b); Vec2 anchor2 = new Vec2(10.0f, y + b); Vec2 groundAnchor1 = new Vec2(-10.0f, y + b + L); Vec2 groundAnchor2 = new Vec2(10.0f, y + b + L); pulleyDef.Initialize(body1, body2, groundAnchor1, groundAnchor2, anchor1, anchor2, 2.0f); _joint1 = (PulleyJoint)_world.CreateJoint(pulleyDef); } }
public Prismatic() { Body ground = null; { BodyDef bd = new BodyDef(); ground = _world.CreateBody(bd); PolygonShape shape = new PolygonShape(); shape.SetAsEdge(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f)); ground.CreateFixture(shape, 0); } { PolygonShape shape = new PolygonShape(); shape.SetAsBox(2.0f, 0.5f); BodyDef bd = new BodyDef(); bd.Position.Set(-10.0f, 10.0f); bd.Angle = 0.5f * Box2DX.Common.Settings.PI; Body body = _world.CreateBody(bd); body.CreateFixture(shape, 5.0f); PrismaticJointDef pjd = new PrismaticJointDef(); // Bouncy limit pjd.Initialize(ground, body, new Vec2(0.0f, 0.0f), new Vec2(1.0f, 0.0f)); // Non-bouncy limit //pjd.Initialize(ground, body, b2Vec2(-10.0f, 10.0f), b2Vec2(1.0f, 0.0f)); pjd.MotorSpeed = 10.0f; pjd.MaxMotorForce = 1000.0f; pjd.EnableMotor = true; pjd.LowerTranslation = 0.0f; pjd.UpperTranslation = 20.0f; pjd.EnableLimit = true; _joint = (PrismaticJoint)_world.CreateJoint(pjd); } }
public Pyramid() { { BodyDef bd = new BodyDef(); Body ground = _world.CreateBody(bd); PolygonShape shape = new PolygonShape(); shape.SetAsEdge(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f)); ground.CreateFixture(shape, 0); } { float a = 0.5f; PolygonShape shape = new PolygonShape(); shape.SetAsBox(a, a); Vec2 x = new Vec2(-7.0f, 0.75f); Vec2 y; Vec2 deltaX = new Vec2(0.5625f, 1.25f); Vec2 deltaY = new Vec2(1.125f, 0.0f); for (int i = 0; i < _count; ++i) { y = x; for (int j = i; j < _count; ++j) { BodyDef bd = new BodyDef(); bd.Position = y; Body body = _world.CreateBody(bd); body.CreateFixture(shape, 5.0f); y += deltaY; } x += deltaX; } } }
public TheoJansen() { _offset.Set(0.0f, 8.0f); _motorSpeed = 2.0f; _motorOn = true; Vec2 pivot = new Vec2(0.0f, 0.8f); // Ground { BodyDef bd = new BodyDef(); Body ground = _world.CreateBody(bd); PolygonShape shape = new PolygonShape(); shape.SetAsEdge(new Vec2(-50.0f, 0.0f), new Vec2(50.0f, 0.0f)); ground.CreateFixture(shape, 0); shape.SetAsEdge(new Vec2(-50.0f, 0.0f), new Vec2(-50.0f, 10.0f)); ground.CreateFixture(shape, 0); shape.SetAsEdge(new Vec2(50.0f, 0.0f), new Vec2(50.0f, 10.0f)); ground.CreateFixture(shape, 0); } // Balls for (int i = 0; i < 40; ++i) { CircleShape shape = new CircleShape(); shape._radius = 0.25f; BodyDef bd = new BodyDef(); bd.Position.Set(-40.0f + 2.0f * i, 0.5f); Body body = _world.CreateBody(bd); body.CreateFixture(shape, 1.0f); } // Chassis { PolygonShape shape = new PolygonShape(); shape.SetAsBox(2.5f, 1.0f); FixtureDef sd = new FixtureDef(); sd.Density = 1.0f; sd.Shape = shape; sd.Filter.GroupIndex = -1; BodyDef bd = new BodyDef(); bd.Position = pivot + _offset; _chassis = _world.CreateBody(bd); _chassis.CreateFixture(sd); } { CircleShape shape = new CircleShape(); shape._radius = 1.6f; FixtureDef sd = new FixtureDef(); sd.Density = 1.0f; sd.Shape = shape; sd.Filter.GroupIndex = -1; BodyDef bd = new BodyDef(); bd.Position = pivot + _offset; _wheel = _world.CreateBody(bd); _wheel.CreateFixture(sd); } { RevoluteJointDef jd = new RevoluteJointDef(); jd.Initialize(_wheel, _chassis, pivot + _offset); jd.CollideConnected = false; jd.MotorSpeed = _motorSpeed; jd.MaxMotorTorque = 400.0f; jd.EnableMotor = _motorOn; _motorJoint = (RevoluteJoint)_world.CreateJoint(jd); } Vec2 wheelAnchor; wheelAnchor = pivot + new Vec2(0.0f, -0.8f); CreateLeg(-1.0f, wheelAnchor); CreateLeg(1.0f, wheelAnchor); _wheel.SetTransform(_wheel.GetPosition(), 120.0f * Box2DX.Common.Settings.PI / 180.0f); CreateLeg(-1.0f, wheelAnchor); CreateLeg(1.0f, wheelAnchor); _wheel.SetTransform(_wheel.GetPosition(), -120.0f * Box2DX.Common.Settings.PI / 180.0f); CreateLeg(-1.0f, wheelAnchor); CreateLeg(1.0f, wheelAnchor); }
public Gears() { Body ground = null; { BodyDef bd = new BodyDef(); ground = _world.CreateBody(bd); PolygonShape shape = new PolygonShape(); shape.SetAsEdge(new Vec2(50.0f, 0.0f), new Vec2(-50.0f, 0.0f)); ground.CreateFixture(shape, 0); } { CircleShape circle1 = new CircleShape(); circle1._radius = 1.0f; CircleShape circle2 = new CircleShape(); circle2._radius = 2.0f; PolygonShape box = new PolygonShape(); box.SetAsBox(0.5f, 5.0f); BodyDef bd1 = new BodyDef(); bd1.Position.Set(-3.0f, 12.0f); Body body1 = _world.CreateBody(bd1); body1.CreateFixture(circle1, 5.0f); RevoluteJointDef jd1 = new RevoluteJointDef(); jd1.Body1 = ground; jd1.Body2 = body1; jd1.LocalAnchor1 = ground.GetLocalPoint(bd1.Position); jd1.LocalAnchor2 = body1.GetLocalPoint(bd1.Position); jd1.ReferenceAngle = body1.GetAngle() - ground.GetAngle(); _joint1 = (RevoluteJoint)_world.CreateJoint(jd1); BodyDef bd2 = new BodyDef(); bd2.Position.Set(0.0f, 12.0f); Body body2 = _world.CreateBody(bd2); body2.CreateFixture(circle2, 5.0f); RevoluteJointDef jd2 = new RevoluteJointDef(); jd2.Initialize(ground, body2, bd2.Position); _joint2 = (RevoluteJoint)_world.CreateJoint(jd2); BodyDef bd3 = new BodyDef(); bd3.Position.Set(2.5f, 12.0f); Body body3 = _world.CreateBody(bd3); body3.CreateFixture(box, 5.0f); PrismaticJointDef jd3 = new PrismaticJointDef(); jd3.Initialize(ground, body3, bd3.Position, new Vec2(0.0f, 1.0f)); jd3.LowerTranslation = -5.0f; jd3.UpperTranslation = 5.0f; jd3.EnableLimit = true; _joint3 = (PrismaticJoint)_world.CreateJoint(jd3); GearJointDef jd4 = new GearJointDef(); jd4.Body1 = body1; jd4.Body2 = body2; jd4.Joint1 = _joint1; jd4.Joint2 = _joint2; jd4.Ratio = circle2._radius / circle1._radius; _joint4 = (GearJoint)_world.CreateJoint(jd4); GearJointDef jd5 = new GearJointDef(); jd5.Body1 = body2; jd5.Body2 = body3; jd5.Joint1 = _joint2; jd5.Joint2 = _joint3; jd5.Ratio = -1.0f / circle2._radius; _joint5 = (GearJoint)_world.CreateJoint(jd5); } }
public VaryingFriction() { { BodyDef bd = new BodyDef(); Body ground = _world.CreateBody(bd); PolygonShape shape = new PolygonShape(); shape.SetAsEdge(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f)); ground.CreateFixture(shape, 0); } { PolygonShape shape = new PolygonShape(); shape.SetAsBox(13.0f, 0.25f); BodyDef bd = new BodyDef(); bd.Position.Set(-4.0f, 22.0f); bd.Angle = -0.25f; Body ground = _world.CreateBody(bd); ground.CreateFixture(shape, 0); } { PolygonShape shape = new PolygonShape(); shape.SetAsBox(0.25f, 1.0f); BodyDef bd = new BodyDef(); bd.Position.Set(10.5f, 19.0f); Body ground = _world.CreateBody(bd); ground.CreateFixture(shape, 0); } { PolygonShape shape = new PolygonShape(); shape.SetAsBox(13.0f, 0.25f); BodyDef bd = new BodyDef(); bd.Position.Set(4.0f, 14.0f); bd.Angle = 0.25f; Body ground = _world.CreateBody(bd); ground.CreateFixture(shape, 0); } { PolygonShape shape = new PolygonShape(); shape.SetAsBox(0.25f, 1.0f); BodyDef bd = new BodyDef(); bd.Position.Set(-10.5f, 11.0f); Body ground = _world.CreateBody(bd); ground.CreateFixture(shape, 0); } { PolygonShape shape = new PolygonShape(); shape.SetAsBox(13.0f, 0.25f); BodyDef bd = new BodyDef(); bd.Position.Set(-4.0f, 6.0f); bd.Angle = -0.25f; Body ground = _world.CreateBody(bd); ground.CreateFixture(shape, 0); } { PolygonShape shape = new PolygonShape(); shape.SetAsBox(0.5f, 0.5f); FixtureDef fd = new FixtureDef(); fd.Shape = shape; fd.Density = 25.0f; float[] friction = { 0.75f, 0.5f, 0.35f, 0.1f, 0.0f }; for (int i = 0; i < 5; ++i) { BodyDef bd = new BodyDef(); bd.Position.Set(-15.0f + 4.0f * i, 28.0f); Body body = _world.CreateBody(bd); fd.Friction = friction[i]; body.CreateFixture(fd); } } }
public CollisionProcessing() { // Ground body { PolygonShape shape = new PolygonShape(); shape.SetAsEdge(new Vec2(-50.0f, 0.0f), new Vec2(50.0f, 0.0f)); FixtureDef sd = new FixtureDef(); sd.Shape = shape; ; BodyDef bd = new BodyDef(); Body ground = _world.CreateBody(bd); ground.CreateFixture(sd); } float xLo = -5.0f, xHi = 5.0f; float yLo = 2.0f, yHi = 35.0f; // Small triangle Vec2[] vertices = new Vec2[3]; vertices[0].Set(-1.0f, 0.0f); vertices[1].Set(1.0f, 0.0f); vertices[2].Set(0.0f, 2.0f); PolygonShape polygon = new PolygonShape(); polygon.Set(vertices, 3); FixtureDef triangleShapeDef = new FixtureDef(); triangleShapeDef.Shape = polygon; triangleShapeDef.Density = 1.0f; BodyDef triangleBodyDef = new BodyDef(); triangleBodyDef.Position.Set(Math.Random(xLo, xHi), Math.Random(yLo, yHi)); Body body1 = _world.CreateBody(triangleBodyDef); body1.CreateFixture(triangleShapeDef); // Large triangle (recycle definitions) vertices[0] *= 2.0f; vertices[1] *= 2.0f; vertices[2] *= 2.0f; polygon.Set(vertices, 3); triangleBodyDef.Position.Set(Math.Random(xLo, xHi), Math.Random(yLo, yHi)); Body body2 = _world.CreateBody(triangleBodyDef); body2.CreateFixture(triangleShapeDef); // Small box polygon.SetAsBox(1.0f, 0.5f); FixtureDef boxShapeDef = new FixtureDef(); boxShapeDef.Shape = polygon; boxShapeDef.Density = 1.0f; BodyDef boxBodyDef = new BodyDef(); boxBodyDef.Position.Set(Math.Random(xLo, xHi), Math.Random(yLo, yHi)); Body body3 = _world.CreateBody(boxBodyDef); body3.CreateFixture(boxShapeDef); // Large box (recycle definitions) polygon.SetAsBox(2.0f, 1.0f); boxBodyDef.Position.Set(Math.Random(xLo, xHi), Math.Random(yLo, yHi)); Body body4 = _world.CreateBody(boxBodyDef); body4.CreateFixture(boxShapeDef); // Small circle CircleShape circle = new CircleShape(); circle._radius = 1.0f; FixtureDef circleShapeDef = new FixtureDef(); circleShapeDef.Shape = circle; circleShapeDef.Density = 1.0f; BodyDef circleBodyDef = new BodyDef(); circleBodyDef.Position.Set(Math.Random(xLo, xHi), Math.Random(yLo, yHi)); Body body5 = _world.CreateBody(circleBodyDef); body5.CreateFixture(circleShapeDef); // Large circle circle._radius *= 2.0f; circleBodyDef.Position.Set(Math.Random(xLo, xHi), Math.Random(yLo, yHi)); Body body6 = _world.CreateBody(circleBodyDef); body6.CreateFixture(circleShapeDef); }
public SliderCrank() { Body ground = null; { BodyDef bd = new BodyDef(); ground = _world.CreateBody(bd); PolygonShape shape = new PolygonShape(); shape.SetAsEdge(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f)); ground.CreateFixture(shape, 0); } { Body prevBody = ground; // Define crank. { PolygonShape shape = new PolygonShape(); shape.SetAsBox(0.5f, 2.0f); BodyDef bd = new BodyDef(); bd.Position.Set(0.0f, 7.0f); Body body = _world.CreateBody(bd); body.CreateFixture(shape, 2.0f); RevoluteJointDef rjd = new RevoluteJointDef(); rjd.Initialize(prevBody, body, new Vec2(0.0f, 5.0f)); rjd.MotorSpeed = 1.0f * Box2DX.Common.Settings.PI; rjd.MaxMotorTorque = 10000.0f; rjd.EnableMotor = true; _joint1 = (RevoluteJoint)_world.CreateJoint(rjd); prevBody = body; } // Define follower. { PolygonShape shape = new PolygonShape(); shape.SetAsBox(0.5f, 4.0f); BodyDef bd = new BodyDef(); bd.Position.Set(0.0f, 13.0f); Body body = _world.CreateBody(bd); body.CreateFixture(shape, 2.0f); RevoluteJointDef rjd = new RevoluteJointDef(); rjd.Initialize(prevBody, body, new Vec2(0.0f, 9.0f)); rjd.EnableMotor = false; _world.CreateJoint(rjd); prevBody = body; } // Define piston { PolygonShape shape = new PolygonShape(); shape.SetAsBox(1.5f, 1.5f); BodyDef bd = new BodyDef(); bd.Position.Set(0.0f, 17.0f); Body body = _world.CreateBody(bd); body.CreateFixture(shape, 2.0f); RevoluteJointDef rjd = new RevoluteJointDef(); rjd.Initialize(prevBody, body, new Vec2(0.0f, 17.0f)); _world.CreateJoint(rjd); PrismaticJointDef pjd = new PrismaticJointDef(); pjd.Initialize(ground, body, new Vec2(0.0f, 17.0f), new Vec2(0.0f, 1.0f)); pjd.MaxMotorForce = 1000.0f; pjd.EnableMotor = true; _joint2 = (PrismaticJoint)_world.CreateJoint(pjd); } // Create a payload { PolygonShape shape = new PolygonShape(); shape.SetAsBox(1.5f, 1.5f); BodyDef bd = new BodyDef(); bd.Position.Set(0.0f, 23.0f); Body body = _world.CreateBody(bd); body.CreateFixture(shape, 2.0f); } } }
public CollisionFiltering() { // Ground body { PolygonShape shape = new PolygonShape(); shape.SetAsEdge(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f)); FixtureDef sd = new FixtureDef(); sd.Shape = shape; sd.Friction = 0.3f; BodyDef bd = new BodyDef(); Body ground = _world.CreateBody(bd); ground.CreateFixture(sd); } // Small triangle Vec2[] vertices = new Vec2[3]; vertices[0].Set(-1.0f, 0.0f); vertices[1].Set(1.0f, 0.0f); vertices[2].Set(0.0f, 2.0f); PolygonShape polygon = new PolygonShape(); polygon.Set(vertices, 3); FixtureDef triangleShapeDef = new FixtureDef(); triangleShapeDef.Shape = polygon; triangleShapeDef.Density = 1.0f; triangleShapeDef.Filter.GroupIndex = k_smallGroup; triangleShapeDef.Filter.CategoryBits = k_triangleCategory; triangleShapeDef.Filter.MaskBits = k_triangleMask; BodyDef triangleBodyDef = new BodyDef(); triangleBodyDef.Position.Set(-5.0f, 2.0f); Body body1 = _world.CreateBody(triangleBodyDef); body1.CreateFixture(triangleShapeDef); // Large triangle (recycle definitions) vertices[0] *= 2.0f; vertices[1] *= 2.0f; vertices[2] *= 2.0f; polygon.Set(vertices, 3); triangleShapeDef.Filter.GroupIndex = k_largeGroup; triangleBodyDef.Position.Set(-5.0f, 6.0f); triangleBodyDef.FixedRotation = true; // look at me! Body body2 = _world.CreateBody(triangleBodyDef); body2.CreateFixture(triangleShapeDef); // Small box polygon.SetAsBox(1.0f, 0.5f); FixtureDef boxShapeDef = new FixtureDef(); boxShapeDef.Shape = polygon; boxShapeDef.Density = 1.0f; boxShapeDef.Restitution = 0.1f; boxShapeDef.Filter.GroupIndex = k_smallGroup; boxShapeDef.Filter.CategoryBits = k_boxCategory; boxShapeDef.Filter.MaskBits = k_boxMask; BodyDef boxBodyDef = new BodyDef(); boxBodyDef.Position.Set(0.0f, 2.0f); Body body3 = _world.CreateBody(boxBodyDef); body3.CreateFixture(boxShapeDef); // Large box (recycle definitions) polygon.SetAsBox(2.0f, 1.0f); boxShapeDef.Filter.GroupIndex = k_largeGroup; boxBodyDef.Position.Set(0.0f, 6.0f); Body body4 = _world.CreateBody(boxBodyDef); body4.CreateFixture(boxShapeDef); // Small circle CircleShape circle = new CircleShape(); circle._radius = 1.0f; FixtureDef circleShapeDef = new FixtureDef(); circleShapeDef.Shape = circle; circleShapeDef.Density = 1.0f; circleShapeDef.Filter.GroupIndex = k_smallGroup; circleShapeDef.Filter.CategoryBits = k_circleCategory; circleShapeDef.Filter.MaskBits = k_circleMask; BodyDef circleBodyDef = new BodyDef(); circleBodyDef.Position.Set(5.0f, 2.0f); Body body5 = _world.CreateBody(circleBodyDef); body5.CreateFixture(circleShapeDef); // Large circle circle._radius *= 2.0f; circleShapeDef.Filter.GroupIndex = k_largeGroup; circleBodyDef.Position.Set(5.0f, 6.0f); Body body6 = _world.CreateBody(circleBodyDef); body6.CreateFixture(circleShapeDef); }
public Web() { Body ground = null; { BodyDef bd = new BodyDef(); ground = _world.CreateBody(bd); PolygonShape shape = new PolygonShape(); shape.SetAsEdge(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f)); ground.CreateFixture(shape, 0); } { PolygonShape shape = new PolygonShape(); shape.SetAsBox(0.5f, 0.5f); BodyDef bd = new BodyDef(); bd.Position.Set(-5.0f, 5.0f); _bodies[0] = _world.CreateBody(bd); _bodies[0].CreateFixture(shape, 0); bd.Position.Set(5.0f, 5.0f); _bodies[1] = _world.CreateBody(bd); _bodies[1].CreateFixture(shape, 0); bd.Position.Set(5.0f, 15.0f); _bodies[2] = _world.CreateBody(bd); _bodies[2].CreateFixture(shape, 0); bd.Position.Set(-5.0f, 15.0f); _bodies[3] = _world.CreateBody(bd); _bodies[3].CreateFixture(shape, 0); DistanceJointDef jd = new DistanceJointDef(); Vec2 p1, p2, d; jd.FrequencyHz = 4.0f; jd.DampingRatio = 0.5f; jd.Body1 = ground; jd.Body2 = _bodies[0]; jd.LocalAnchor1.Set(-10.0f, 10.0f); jd.LocalAnchor2.Set(-0.5f, -0.5f); p1 = jd.Body1.GetWorldPoint(jd.LocalAnchor1); p2 = jd.Body2.GetWorldPoint(jd.LocalAnchor2); d = p2 - p1; jd.Length = d.Length(); _joints[0] = _world.CreateJoint(jd); jd.Body1 = ground; jd.Body2 = _bodies[1]; jd.LocalAnchor1.Set(10.0f, 10.0f); jd.LocalAnchor2.Set(0.5f, -0.5f); p1 = jd.Body1.GetWorldPoint(jd.LocalAnchor1); p2 = jd.Body2.GetWorldPoint(jd.LocalAnchor2); d = p2 - p1; jd.Length = d.Length(); _joints[1] = _world.CreateJoint(jd); jd.Body1 = ground; jd.Body2 = _bodies[2]; jd.LocalAnchor1.Set(10.0f, 30.0f); jd.LocalAnchor2.Set(0.5f, 0.5f); p1 = jd.Body1.GetWorldPoint(jd.LocalAnchor1); p2 = jd.Body2.GetWorldPoint(jd.LocalAnchor2); d = p2 - p1; jd.Length = d.Length(); _joints[2] = _world.CreateJoint(jd); jd.Body1 = ground; jd.Body2 = _bodies[3]; jd.LocalAnchor1.Set(-10.0f, 30.0f); jd.LocalAnchor2.Set(-0.5f, 0.5f); p1 = jd.Body1.GetWorldPoint(jd.LocalAnchor1); p2 = jd.Body2.GetWorldPoint(jd.LocalAnchor2); d = p2 - p1; jd.Length = d.Length(); _joints[3] = _world.CreateJoint(jd); jd.Body1 = _bodies[0]; jd.Body2 = _bodies[1]; jd.LocalAnchor1.Set(0.5f, 0.0f); jd.LocalAnchor2.Set(-0.5f, 0.0f); ; p1 = jd.Body1.GetWorldPoint(jd.LocalAnchor1); p2 = jd.Body2.GetWorldPoint(jd.LocalAnchor2); d = p2 - p1; jd.Length = d.Length(); _joints[4] = _world.CreateJoint(jd); jd.Body1 = _bodies[1]; jd.Body2 = _bodies[2]; jd.LocalAnchor1.Set(0.0f, 0.5f); jd.LocalAnchor2.Set(0.0f, -0.5f); p1 = jd.Body1.GetWorldPoint(jd.LocalAnchor1); p2 = jd.Body2.GetWorldPoint(jd.LocalAnchor2); d = p2 - p1; jd.Length = d.Length(); _joints[5] = _world.CreateJoint(jd); jd.Body1 = _bodies[2]; jd.Body2 = _bodies[3]; jd.LocalAnchor1.Set(-0.5f, 0.0f); jd.LocalAnchor2.Set(0.5f, 0.0f); p1 = jd.Body1.GetWorldPoint(jd.LocalAnchor1); p2 = jd.Body2.GetWorldPoint(jd.LocalAnchor2); d = p2 - p1; jd.Length = d.Length(); _joints[6] = _world.CreateJoint(jd); jd.Body1 = _bodies[3]; jd.Body2 = _bodies[0]; jd.LocalAnchor1.Set(0.0f, -0.5f); jd.LocalAnchor2.Set(0.0f, 0.5f); p1 = jd.Body1.GetWorldPoint(jd.LocalAnchor1); p2 = jd.Body2.GetWorldPoint(jd.LocalAnchor2); d = p2 - p1; jd.Length = d.Length(); _joints[7] = _world.CreateJoint(jd); } }
public Bridge() { Body ground = null; { BodyDef bd = new BodyDef(); ground = _world.CreateBody(bd); PolygonShape shape = new PolygonShape(); shape.SetAsEdge(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f)); ground.CreateFixture(shape, 0); } { PolygonShape shape = new PolygonShape(); shape.SetAsBox(0.5f, 0.125f); FixtureDef fd = new FixtureDef(); fd.Shape = shape; fd.Density = 20.0f; fd.Friction = 0.2f; RevoluteJointDef jd = new RevoluteJointDef(); const int numPlanks = 30; Body prevBody = ground; for (int i = 0; i < _count; ++i) { BodyDef bd = new BodyDef(); bd.Position.Set(-14.5f + 1.0f * i, 5.0f); Body body = _world.CreateBody(bd); body.CreateFixture(fd); Vec2 anchor = new Vec2(-15.0f + 1.0f * i, 5.0f); jd.Initialize(prevBody, body, anchor); _world.CreateJoint(jd); if (i == (_count >> 1)) { _middle = body; } prevBody = body; } Vec2 anchor2 = new Vec2(-15.0f + 1.0f * _count, 5.0f); jd.Initialize(prevBody, ground, anchor2); _world.CreateJoint(jd); } for (int i = 0; i < 2; ++i) { Vec2[] vertices = new Vec2[3]; vertices[0].Set(-0.5f, 0.0f); vertices[1].Set(0.5f, 0.0f); vertices[2].Set(0.0f, 1.5f); PolygonShape shape = new PolygonShape(); shape.Set(vertices, 3); FixtureDef fd = new FixtureDef(); fd.Shape = shape; fd.Density = 1.0f; BodyDef bd = new BodyDef(); bd.Position.Set(-8.0f + 8.0f * i, 12.0f); Body body = _world.CreateBody(bd); body.CreateFixture(fd); } for (int i = 0; i < 3; ++i) { CircleShape shape = new CircleShape(); shape._radius = 0.5f; FixtureDef fd = new FixtureDef(); fd.Shape = shape; fd.Density = 1.0f; BodyDef bd = new BodyDef(); bd.Position.Set(-6.0f + 6.0f * i, 10.0f); Body body = _world.CreateBody(bd); body.CreateFixture(fd); } }
public 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); PolygonShape shape = new PolygonShape(); FixtureDef sd = new FixtureDef(); sd.Shape = shape; sd.Density = 0.0f; sd.Restitution = k_restitution; // Left vertical shape.SetAsEdge(new Vec2(-20.0f, -20.0f), new Vec2(-20.0f, 20.0f)); ground.CreateFixture(sd); // Right vertical shape.SetAsEdge(new Vec2(20.0f, -20.0f), new Vec2(20.0f, 20.0f)); ground.CreateFixture(sd); // Top horizontal shape.SetAsEdge(new Vec2(-20.0f, 20.0f), new Vec2(20.0f, 20.0f)); ground.CreateFixture(sd); // Bottom horizontal shape.SetAsEdge(new Vec2(-20.0f, -20.0f), new Vec2(20.0f, -20.0f)); ground.CreateFixture(sd); } { Transform xf1 = new Transform(); xf1.R.Set(0.3524f * Box2DX.Common.Settings.PI); xf1.Position = Math.Mul(xf1.R, new Vec2(1.0f, 0.0f)); Vec2[] vertices = new Vec2[3]; vertices[0] = Math.Mul(xf1, new Vec2(-1.0f, 0.0f)); vertices[1] = Math.Mul(xf1, new Vec2(1.0f, 0.0f)); vertices[2] = Math.Mul(xf1, new Vec2(0.0f, 0.5f)); PolygonShape poly1 = new PolygonShape(); poly1.Set(vertices, 3); FixtureDef sd1 = new FixtureDef(); sd1.Shape = poly1; sd1.Density = 2.0f; Transform xf2 = new Transform(); xf2.R.Set(-0.3524f * Box2DX.Common.Settings.PI); xf2.Position = Math.Mul(xf2.R, new Vec2(-1.0f, 0.0f)); vertices[0] = Math.Mul(xf2, new Vec2(-1.0f, 0.0f)); vertices[1] = Math.Mul(xf2, new Vec2(1.0f, 0.0f)); vertices[2] = Math.Mul(xf2, new Vec2(0.0f, 0.5f)); PolygonShape poly2 = new PolygonShape(); poly2.Set(vertices, 3); FixtureDef sd2 = new FixtureDef(); sd2.Shape = poly2; sd2.Density = 2.0f; BodyDef bd = new BodyDef(); bd.AngularDamping = 2.0f; bd.LinearDamping = 0.1f; bd.Position.Set(0.0f, 2.0f); bd.Angle = Box2DX.Common.Settings.PI; _body = _world.CreateBody(bd); _body.CreateFixture(sd1); _body.CreateFixture(sd2); } }
public Dominos() { Body b1; { PolygonShape shape = new PolygonShape(); shape.SetAsEdge(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f)); BodyDef bd = new BodyDef(); b1 = _world.CreateBody(bd); b1.CreateFixture(shape,0); } { PolygonShape shape = new PolygonShape(); shape.SetAsBox(6.0f, 0.25f); BodyDef bd = new BodyDef(); bd.Position.Set(-1.5f, 10.0f); Body ground = _world.CreateBody(bd); ground.CreateFixture(shape,0); } { PolygonShape shape = new PolygonShape(); shape.SetAsBox(0.1f, 1.0f); FixtureDef fd = new FixtureDef(); fd.Shape = shape; fd.Density = 20.0f; fd.Friction = 0.1f; for (int i = 0; i < 10; ++i) { BodyDef bd = new BodyDef(); bd.Position.Set(-6.0f + 1.0f * i, 11.25f); Body body = _world.CreateBody(bd); body.CreateFixture(fd); } } { PolygonShape shape = new PolygonShape(); shape.SetAsBox(7.0f, 0.25f, Vec2.Zero, 0.3f); BodyDef bd = new BodyDef(); bd.Position.Set(1.0f, 6.0f); Body ground = _world.CreateBody(bd); ground.CreateFixture(shape,0); } Body b2; { PolygonShape shape = new PolygonShape(); shape.SetAsBox(0.25f, 1.5f); BodyDef bd = new BodyDef(); bd.Position.Set(-7.0f, 4.0f); b2 = _world.CreateBody(bd); b2.CreateFixture(shape,0); } Body b3; { PolygonShape shape = new PolygonShape(); shape.SetAsBox(6.0f, 0.125f); BodyDef bd = new BodyDef(); bd.Position.Set(-0.9f, 1.0f); bd.Angle = -0.15f; b3 = _world.CreateBody(bd); b3.CreateFixture(shape, 10.0f); } RevoluteJointDef jd = new RevoluteJointDef(); Vec2 anchor = new Vec2(); anchor.Set(-2.0f, 1.0f); jd.Initialize(b1, b3, anchor); jd.CollideConnected = true; _world.CreateJoint(jd); Body b4; { PolygonShape shape = new PolygonShape(); shape.SetAsBox(0.25f, 0.25f); BodyDef bd = new BodyDef(); bd.Position.Set(-10.0f, 15.0f); b4 = _world.CreateBody(bd); b4.CreateFixture(shape, 10.0f); } anchor.Set(-7.0f, 15.0f); jd.Initialize(b2, b4, anchor); _world.CreateJoint(jd); Body b5; { BodyDef bd = new BodyDef(); bd.Position.Set(6.5f, 3.0f); b5 = _world.CreateBody(bd); PolygonShape shape = new PolygonShape(); FixtureDef fd = new FixtureDef(); fd.Shape = shape; fd.Density = 10.0f; fd.Friction = 0.1f; shape.SetAsBox(1.0f, 0.1f,new Vec2(0.0f, -0.9f), 0.0f); b5.CreateFixture(fd); shape.SetAsBox(0.1f, 1.0f, new Vec2(-0.9f, 0.0f), 0.0f); b5.CreateFixture(fd); shape.SetAsBox(0.1f, 1.0f,new Vec2(0.9f, 0.0f), 0.0f); b5.CreateFixture(fd); } anchor.Set(6.0f, 2.0f); jd.Initialize(b1, b5, anchor); _world.CreateJoint(jd); Body b6; { PolygonShape shape = new PolygonShape(); shape.SetAsBox(1.0f, 0.1f); BodyDef bd = new BodyDef(); bd.Position.Set(6.5f, 4.1f); b6 = _world.CreateBody(bd); b6.CreateFixture(shape, 30.0f); } anchor.Set(7.5f, 4.0f); jd.Initialize(b5, b6, anchor); _world.CreateJoint(jd); Body b7; { PolygonShape shape = new PolygonShape(); shape.SetAsBox(0.1f, 1.0f); BodyDef bd = new BodyDef(); bd.Position.Set(7.4f, 1.0f); b7 = _world.CreateBody(bd); b7.CreateFixture(shape, 10.0f); } DistanceJointDef djd =new DistanceJointDef(); djd.Body1 = b3; djd.Body2 = b7; djd.LocalAnchor1.Set(6.0f, 0.0f); djd.LocalAnchor2.Set(0.0f, -1.0f); Vec2 d = djd.Body2.GetWorldPoint(djd.LocalAnchor2) - djd.Body1.GetWorldPoint(djd.LocalAnchor1); djd.Length = d.Length(); _world.CreateJoint(djd); { float radius = 0.2f; CircleShape shape = new CircleShape(); shape._radius = radius; for (int i = 0; i < 4; ++i) { BodyDef bd = new BodyDef(); bd.Position.Set(5.9f + 2.0f * radius * i, 2.4f); Body body = _world.CreateBody(bd); body.CreateFixture(shape, 10.0f); } } }
public CompoundShapes() { { BodyDef bd = new BodyDef(); bd.Position.Set(0.0f, 0.0f); Body body = _world.CreateBody(bd); PolygonShape shape = new PolygonShape(); shape.SetAsEdge(new Vec2(50.0f, 0.0f), new Vec2(-50.0f, 0.0f)); body.CreateFixture(shape, 0); } { CircleShape circle1 = new CircleShape(); circle1._radius = 0.5f; circle1._p.Set(-0.5f, 0.5f); CircleShape circle2 = new CircleShape(); circle2._radius = 0.5f; circle2._p.Set(0.5f, 0.5f); for (int i = 0; i < 10; ++i) { float x = Math.Random(-0.1f, 0.1f); BodyDef bd = new BodyDef(); bd.Position.Set(x + 5.0f, 1.05f + 2.5f * i); bd.Angle = Math.Random(-Box2DX.Common.Settings.PI, Box2DX.Common.Settings.PI); Body body = _world.CreateBody(bd); body.CreateFixture(circle1, 2.0f); body.CreateFixture(circle2, 0); } } { PolygonShape polygon1 = new PolygonShape(); polygon1.SetAsBox(0.25f, 0.5f); PolygonShape polygon2 = new PolygonShape(); polygon2.SetAsBox(0.25f, 0.5f, new Vec2(0.0f, -0.5f), 0.5f * Box2DX.Common.Settings.PI); for (int i = 0; i < 10; ++i) { float x = Math.Random(-0.1f, 0.1f); BodyDef bd = new BodyDef(); bd.Position.Set(x - 5.0f, 1.05f + 2.5f * i); bd.Angle = Math.Random(-Box2DX.Common.Settings.PI, Box2DX.Common.Settings.PI); Body body = _world.CreateBody(bd); body.CreateFixture(polygon1, 2.0f); body.CreateFixture(polygon2, 2.0f); } } { Transform xf1 = new Transform(); xf1.R.Set(0.3524f * Box2DX.Common.Settings.PI); xf1.Position = Math.Mul(xf1.R, new Vec2(1.0f, 0.0f)); Vec2[] vertices = new Vec2[3]; PolygonShape triangle1 = new PolygonShape(); vertices[0] = Math.Mul(xf1, new Vec2(-1.0f, 0.0f)); vertices[1] = Math.Mul(xf1, new Vec2(1.0f, 0.0f)); vertices[2] = Math.Mul(xf1, new Vec2(0.0f, 0.5f)); triangle1.Set(vertices, 3); Transform xf2 = new Transform(); xf2.R.Set(-0.3524f * Box2DX.Common.Settings.PI); xf2.Position = Math.Mul(xf2.R, new Vec2(-1.0f, 0.0f)); PolygonShape triangle2 = new PolygonShape(); vertices[0] = Math.Mul(xf2, new Vec2(-1.0f, 0.0f)); vertices[1] = Math.Mul(xf2, new Vec2(1.0f, 0.0f)); vertices[2] = Math.Mul(xf2, new Vec2(0.0f, 0.5f)); triangle2.Set(vertices, 3); for (int i = 0; i < 10; ++i) { float x = Math.Random(-0.1f, 0.1f); BodyDef bd = new BodyDef(); bd.Position.Set(x, 2.05f + 2.5f * i); bd.Angle = 0.0f; Body body = _world.CreateBody(bd); body.CreateFixture(triangle1, 2.0f); body.CreateFixture(triangle2, 2.0f); } } { PolygonShape bottom = new PolygonShape(); bottom.SetAsBox(1.5f, 0.15f); PolygonShape left = new PolygonShape(); left.SetAsBox(0.15f, 2.7f, new Vec2(-1.45f, 2.35f), 0.2f); PolygonShape right = new PolygonShape(); right.SetAsBox(0.15f, 2.7f, new Vec2(1.45f, 2.35f), -0.2f); BodyDef bd = new BodyDef(); bd.Position.Set(0.0f, 2.0f); Body body = _world.CreateBody(bd); body.CreateFixture(bottom, 4.0f); body.CreateFixture(left, 4.0f); body.CreateFixture(right, 4.0f); } }
RayCast() { // Ground body { BodyDef bd = new BodyDef(); Body ground = _world.CreateBody(bd); PolygonShape shape = new PolygonShape(); shape.SetAsEdge(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f)); ground.CreateFixture(shape, 0); } //Fill array with polygons: for (int i = 0; i < 4; i++) { _polygons[i] = new PolygonShape(); } { 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); _polygons[0].Set(vertices, 3); } { Vec2[] vertices = new Vec2[3]; vertices[0].Set(-0.1f, 0.0f); vertices[1].Set(0.1f, 0.0f); vertices[2].Set(0.0f, 1.5f); _polygons[1].Set(vertices, 3); } { float w = 1.0f; float b = w / (2.0f + Math.Sqrt(2.0f)); float s = Math.Sqrt(2.0f) * b; Vec2[] vertices = new Vec2[8]; vertices[0].Set(0.5f * s, 0.0f); vertices[1].Set(0.5f * w, b); vertices[2].Set(0.5f * w, b + s); vertices[3].Set(0.5f * s, w); vertices[4].Set(-0.5f * s, w); vertices[5].Set(-0.5f * w, b + s); vertices[6].Set(-0.5f * w, b); vertices[7].Set(-0.5f * s, 0.0f); _polygons[2].Set(vertices, 8); } { _polygons[3].SetAsBox(0.5f, 0.5f); } { _circle._radius = 0.5f; } _bodyIndex = 0; //memset(m_bodies, 0, sizeof(m_bodies)); _angle = 0.0f; }