public Prismatic() { Body ground = null; { PolygonDef sd = new PolygonDef(); sd.SetAsBox(50.0f, 10.0f); BodyDef bd = new BodyDef(); bd.Position.Set(0.0f, -10.0f); ground = _world.CreateBody(bd); ground.CreateShape(sd); } { PolygonDef sd = new PolygonDef(); sd.SetAsBox(2.0f, 0.5f); sd.Density = 5.0f; sd.Friction = 0.05f; 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.CreateShape(sd); body.SetMassFromShapes(); 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, Vec2(-10.0f, 10.0f), Vec2(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 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 SliderCrank() { Body ground = null; { PolygonDef sd = new PolygonDef(); sd.SetAsBox(50.0f, 10.0f); BodyDef bd = new BodyDef(); bd.Position.Set(0.0f, -10.0f); ground = _world.CreateBody(bd); ground.CreateShape(sd); } { // Define crank. PolygonDef sd = new PolygonDef(); sd.SetAsBox(0.5f, 2.0f); sd.Density = 1.0f; RevoluteJointDef rjd = new RevoluteJointDef(); Body prevBody = ground; BodyDef bd = new BodyDef(); bd.Position.Set(0.0f, 7.0f); Body body = _world.CreateBody(bd); body.CreateShape(sd); body.SetMassFromShapes(); 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. sd.SetAsBox(0.5f, 4.0f); bd.Position.Set(0.0f, 13.0f); body = _world.CreateBody(bd); body.CreateShape(sd); body.SetMassFromShapes(); rjd.Initialize(prevBody, body, new Vec2(0.0f, 9.0f)); rjd.EnableMotor = false; _world.CreateJoint(rjd); prevBody = body; // Define piston sd.SetAsBox(1.5f, 1.5f); bd.Position.Set(0.0f, 17.0f); body = _world.CreateBody(bd); body.CreateShape(sd); body.SetMassFromShapes(); 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 sd.Density = 2.0f; bd.Position.Set(0.0f, 23.0f); body = _world.CreateBody(bd); body.CreateShape(sd); body.SetMassFromShapes(); } }
/// <summary> /// Add objects to the Box2d world. /// </summary> protected override void PopulateWorld() { // ==== Define the ground body ==== BodyDef groundBodyDef = new BodyDef(); groundBodyDef.Position.Set(0f, -0.25f); // Call the body factory which creates the ground box shape. // The body is also added to the world. Body groundBody = _world.CreateBody(groundBodyDef); // Define the ground box shape. PolygonDef groundShapeDef = new PolygonDef(); // The extents are the half-widths of the box. groundShapeDef.SetAsBox(_trackLengthHalf + 1f, 0.25f); groundShapeDef.Friction = _simParams._defaultFriction; groundShapeDef.Restitution = _simParams._defaultRestitution; groundShapeDef.Filter.CategoryBits = 0x3; // Add the ground shape to the ground body. groundBody.CreateShape(groundShapeDef); // ==== Define the cart body. BodyDef cartBodyDef = new BodyDef(); cartBodyDef.Position.Set(0f, 0.15f); // Create cart body. _cartBody = _world.CreateBody(cartBodyDef); PolygonDef cartShapeDef = new PolygonDef(); cartShapeDef.SetAsBox(0.5f, 0.125f); cartShapeDef.Friction = 0f; cartShapeDef.Restitution = 0f; cartShapeDef.Density = 16f; _cartBody.CreateShape(cartShapeDef); _cartBody.SetMassFromShapes(); // Fix cart to 'track' (prismatic joint). PrismaticJointDef cartTrackJointDef = new PrismaticJointDef(); cartTrackJointDef.EnableMotor = true; cartTrackJointDef.LowerTranslation = -_trackLengthHalf; cartTrackJointDef.UpperTranslation = _trackLengthHalf; cartTrackJointDef.EnableLimit = true; cartTrackJointDef.Initialize(groundBody, _cartBody, new Vec2(0f, 0f), new Vec2(1f, 0f)); _cartTrackJoint = (PrismaticJoint)_world.CreateJoint(cartTrackJointDef); // ===== Create arm1. const float poleRadius = 0.025f; // Half the thickness of the pole. Vec2 arm1PosBase = new Vec2(0f, 0.275f); Body arm1Body = CreatePole(arm1PosBase, _cartJointInitialAngle, poleRadius, 0f, 0f, 2f, 0x0); // Join arm1 to cart. RevoluteJointDef poleJointDef = new RevoluteJointDef(); poleJointDef.CollideConnected = false; poleJointDef.EnableMotor = false; poleJointDef.MaxMotorTorque = 0f; poleJointDef.Initialize(_cartBody, arm1Body, arm1PosBase); _cartJoint = (RevoluteJoint)_world.CreateJoint(poleJointDef); // ===== Create arm2. Vec2 arm2PosBase = CalcPoleEndPos(arm1Body); Body arm2Body = CreatePole(arm2PosBase, _elbowJointInitialAngle, poleRadius, 0f, 0f, 2f, 0x0); _arm2Body = arm2Body; // Join arm2 to arm1. poleJointDef.CollideConnected = false; poleJointDef.EnableMotor = false; poleJointDef.MaxMotorTorque = 0f; poleJointDef.Initialize(arm1Body, arm2Body, arm2PosBase); _elbowJoint = (RevoluteJoint)_world.CreateJoint(poleJointDef); }
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); } }
// Main... public ElasticBody() { // Bottom static body { PolygonDef sd = new PolygonDef(); sd.SetAsBox(50.0f, 2.0f); sd.Friction = 0.1f; sd.Restitution = 0.1f; BodyDef bd = new BodyDef(); bd.Position.Set(-1.0f, -7.5f); _ground = _world.CreateBody(bd); _ground.CreateShape(sd); } // Upper static body { PolygonDef sd = new PolygonDef(); sd.SetAsBox(20.0f, 0.50f, new Vec2(0.0f, 0.0f), 0.047f * Box2DX.Common.Settings.Pi); sd.Friction = 0.01f; sd.Restitution = 0.001f; BodyDef bd = new BodyDef(); bd.Position.Set(-20.0f, 93.0f); Body g = _world.CreateBody(bd); g.CreateShape(sd); sd.SetAsBox(15.0f, 0.50f, new Vec2(-15.0f, 12.5f), 0.0f); g.CreateShape(sd); sd.SetAsBox(20.0f, 0.5f, new Vec2(0.0f, -25.0f), -0.5f); g.CreateShape(sd); } // Left channel left wall { PolygonDef sd = new PolygonDef(); sd.SetAsBox(0.7f, 55.0f); sd.Friction = 0.1f; sd.Restitution = 0.1f; BodyDef bd = new BodyDef(); bd.Position.Set(-49.3f, 50.0f); Body g = _world.CreateBody(bd); g.CreateShape(sd); } // Right wall { PolygonDef sd = new PolygonDef(); sd.SetAsBox(0.7f, 55.0f); sd.Friction = 0.1f; sd.Restitution = 0.1f; BodyDef bd = new BodyDef(); bd.Position.Set(45.0f, 50.0f); Body g = _world.CreateBody(bd); g.CreateShape(sd); } // Left channel right upper wall { PolygonDef sd = new PolygonDef(); sd.SetAsBox(0.5f, 20.0f); sd.Friction = 0.05f; sd.Restitution = 0.01f; BodyDef bd = new BodyDef(); bd.Position.Set(-42.0f, 70.0f); bd.Angle = -0.03f * Box2DX.Common.Settings.Pi; Body g = _world.CreateBody(bd); g.CreateShape(sd); } // Left channel right lower wall { PolygonDef sd = new PolygonDef(); sd.SetAsBox(0.50f, 23.0f); sd.Friction = 0.05f; sd.Restitution = 0.01f; BodyDef bd = new BodyDef(); bd.Position.Set(-44.0f, 27.0f); Body g = _world.CreateBody(bd); g.CreateShape(sd); // Bottom motors CircleDef cd = new CircleDef(); cd.Radius = 3.0f; cd.Density = 15.0f; cd.Friction = 1.0f; cd.Restitution = 0.2f; // 1. bd.Position.Set(-40.0f, 2.5f); Body body = _world.CreateBody(bd); body.CreateShape(cd); body.SetMassFromShapes(); RevoluteJointDef jr = new RevoluteJointDef(); jr.Initialize(g, body, body.GetWorldCenter() + new Vec2(0.0f, 1.0f)); jr.MaxMotorTorque = 30000.0f; jr.EnableMotor = true; jr.MotorSpeed = 20.0f; _world.CreateJoint(jr); // 1. left down bd.Position.Set(-46.0f, -2.5f); cd.Radius = 1.5f; jr.MotorSpeed = -20.0f; body = _world.CreateBody(bd); body.CreateShape(cd); sd.SetAsBox(2.0f, 0.50f); body.CreateShape(sd); body.SetMassFromShapes(); jr.Initialize(g, body, body.GetWorldCenter()); _world.CreateJoint(jr); // 2. cd.Radius = 3.0f; jr.MotorSpeed = 20.0f; bd.Position.Set(-32.0f, 2.5f); body = _world.CreateBody(bd); body.CreateShape(cd); body.SetMassFromShapes(); jr.Initialize(g, body, body.GetWorldCenter() + new Vec2(0.0f, 1.0f)); _world.CreateJoint(jr); // 3. jr.MotorSpeed = 20.0f; bd.Position.Set(-24.0f, 1.5f); body = _world.CreateBody(bd); body.CreateShape(cd); body.SetMassFromShapes(); jr.Initialize(g, body, body.GetWorldCenter() + new Vec2(0.0f, 1.0f)); _world.CreateJoint(jr); // 4. bd.Position.Set(-16.0f, 0.8f); body = _world.CreateBody(bd); body.CreateShape(cd); body.SetMassFromShapes(); jr.Initialize(g, body, body.GetWorldCenter() + new Vec2(0.0f, 1.0f)); _world.CreateJoint(jr); // 5. bd.Position.Set(-8.0f, 0.5f); body = _world.CreateBody(bd); body.CreateShape(cd); body.SetMassFromShapes(); jr.Initialize(g, body, body.GetWorldCenter() + new Vec2(0.0f, 1.0f)); _world.CreateJoint(jr); // 6. bd.Position.Set(0.0f, 0.1f); body = _world.CreateBody(bd); body.CreateShape(cd); body.SetMassFromShapes(); jr.Initialize(g, body, body.GetWorldCenter() + new Vec2(0.0f, 1.0f)); _world.CreateJoint(jr); // 7. bd.Position.Set(8.0f, -0.5f); body = _world.CreateBody(bd); body.CreateShape(cd); sd.SetAsBox(3.7f, 0.5f); body.CreateShape(sd); body.SetMassFromShapes(); jr.Initialize(g, body, body.GetWorldCenter() + new Vec2(0.0f, 1.0f)); _world.CreateJoint(jr); // 8. right rotator sd.SetAsBox(5.0f, 0.5f); sd.Density = 2.0f; bd.Position.Set(18.0f, 1.0f); Body rightmotor = _world.CreateBody(bd); rightmotor.CreateShape(sd); sd.SetAsBox(4.5f, 0.5f, new Vec2(0.0f, 0.0f), Box2DX.Common.Settings.Pi / 3.0f); rightmotor.CreateShape(sd); sd.SetAsBox(4.5f, 0.5f, new Vec2(0.0f, 0.0f), Box2DX.Common.Settings.Pi * 2.0f / 3.0f); rightmotor.CreateShape(sd); cd.Radius = 4.2f; rightmotor.CreateShape(cd); rightmotor.SetMassFromShapes(); jr.Initialize(g, rightmotor, rightmotor.GetWorldCenter()); jr.MaxMotorTorque = 70000.0f; jr.MotorSpeed = -4.0f; _world.CreateJoint(jr); // 9. left rotator sd.SetAsBox(8.5f, 0.5f); sd.Density = 2.0f; bd.Position.Set(-34.0f, 17.0f); body = _world.CreateBody(bd); body.CreateShape(sd); sd.SetAsBox(8.5f, 0.5f, new Vec2(0.0f, 0.0f), Box2DX.Common.Settings.Pi * .5f); body.CreateShape(sd); cd.Radius = 7.0f; cd.Friction = 0.9f; body.CreateShape(cd); body.SetMassFromShapes(); jr.Initialize(g, body, body.GetWorldCenter()); jr.MaxMotorTorque = 100000.0f; jr.MotorSpeed = -5.0f; _world.CreateJoint(jr); // big compressor sd.SetAsBox(3.0f, 4.0f); sd.Density = 10.0f; bd.Position.Set(-16.0f, 17.0f); Body hammerleft = _world.CreateBody(bd); hammerleft.CreateShape(sd); hammerleft.SetMassFromShapes(); DistanceJointDef jd = new DistanceJointDef(); jd.Initialize(body, hammerleft, body.GetWorldCenter() + new Vec2(0.0f, 6.0f), hammerleft.GetWorldCenter()); _world.CreateJoint(jd); bd.Position.Set(4.0f, 17.0f); Body hammerright = _world.CreateBody(bd); hammerright.CreateShape(sd); hammerright.SetMassFromShapes(); jd.Initialize(body, hammerright, body.GetWorldCenter() - new Vec2(0.0f, 6.0f), hammerright.GetWorldCenter()); _world.CreateJoint(jd); // pusher sd.SetAsBox(6.0f, 0.75f); bd.Position.Set(-21.0f, 9.0f); Body pusher = _world.CreateBody(bd); pusher.CreateShape(sd); sd.SetAsBox(2.0f, 1.5f, new Vec2(-5.0f, 0.0f), 0.0f); pusher.SetMassFromShapes(); pusher.CreateShape(sd); jd.Initialize(rightmotor, pusher, rightmotor.GetWorldCenter() + new Vec2(-8.0f, 0.0f), pusher.GetWorldCenter() + new Vec2(5.0f, 0.0f)); _world.CreateJoint(jd); } // Static bodies above motors { PolygonDef sd = new PolygonDef(); CircleDef cd = new CircleDef(); sd.SetAsBox(9.0f, 0.5f); sd.Friction = 0.05f; sd.Restitution = 0.01f; BodyDef bd = new BodyDef(); bd.Position.Set(-15.5f, 12.0f); bd.Angle = 0.0f; Body g = _world.CreateBody(bd); g.CreateShape(sd); sd.SetAsBox(8.0f, 0.5f, new Vec2(23.0f, 0.0f), 0.0f); g.CreateShape(sd); // compressor statics sd.SetAsBox(7.0f, 0.5f, new Vec2(-2.0f, 9.0f), 0.0f); g.CreateShape(sd); sd.SetAsBox(9.0f, 0.5f, new Vec2(22.0f, 9.0f), 0.0f); g.CreateShape(sd); sd.SetAsBox(19.0f, 0.5f, new Vec2(-9.0f, 15.0f), -0.05f); g.CreateShape(sd); sd.SetAsBox(4.7f, 0.5f, new Vec2(15.0f, 11.5f), -0.5f); g.CreateShape(sd); // below compressor sd.SetAsBox(26.0f, 0.3f, new Vec2(17.0f, -4.4f), -0.02f); g.CreateShape(sd); cd.Radius = 1.0f; cd.Friction = 1.0f; cd.LocalPosition = new Vec2(29.0f, -6.0f); g.CreateShape(cd); cd.Radius = 0.7f; cd.LocalPosition = new Vec2(-2.0f, -4.5f); g.CreateShape(cd); } // Elevator { BodyDef bd = new BodyDef(); CircleDef cd = new CircleDef(); PolygonDef sd = new PolygonDef(); bd.Position.Set(40.0f, 4.0f); _elev = _world.CreateBody(bd); sd.SetAsBox(0.5f, 2.5f, new Vec2(3.0f, -3.0f), 0.0f); sd.Density = 1.0f; sd.Friction = 0.01f; _elev.CreateShape(sd); sd.SetAsBox(7.0f, 0.5f, new Vec2(-3.5f, -5.5f), 0.0f); _elev.CreateShape(sd); sd.SetAsBox(0.5f, 2.5f, new Vec2(-11.0f, -3.5f), 0.0f); _elev.CreateShape(sd); _elev.SetMassFromShapes(); PrismaticJointDef jp = new PrismaticJointDef(); jp.Initialize(_ground, _elev, bd.Position, new Vec2(0.0f, 1.0f)); jp.LowerTranslation = 0.0f; jp.UpperTranslation = 100.0f; jp.EnableLimit = true; jp.EnableMotor = true; jp.MaxMotorForce = 10000.0f; jp.MotorSpeed = 0.0f; _joint_elev = (PrismaticJoint)_world.CreateJoint(jp); // Korb sd.SetAsBox(2.3f, 0.5f, new Vec2(1.0f, 0.0f), 0.0f); sd.Density = 0.5f; bd.Position.Set(29.0f, 6.5f); Body body = _world.CreateBody(bd); body.CreateShape(sd); sd.SetAsBox(2.5f, 0.5f, new Vec2(3.0f, -2.0f), Box2DX.Common.Settings.Pi / 2.0f); body.CreateShape(sd); sd.SetAsBox(4.6f, 0.5f, new Vec2(7.8f, -4.0f), 0.0f); body.CreateShape(sd); sd.SetAsBox(0.5f, 4.5f, new Vec2(12.0f, 0.0f), 0.0f); body.CreateShape(sd); sd.SetAsBox(0.5f, 0.5f, new Vec2(13.0f, 4.0f), 0.0f); body.CreateShape(sd); cd.Radius = 0.7f; cd.Density = 1.0f; cd.Friction = 0.01f; cd.LocalPosition = new Vec2(0.0f, 0.0f); body.CreateShape(cd); body.SetMassFromShapes(); RevoluteJointDef jr = new RevoluteJointDef(); jr.Initialize(_elev, body, bd.Position); jr.EnableLimit = true; jr.LowerAngle = -0.2f; jr.UpperAngle = Box2DX.Common.Settings.Pi * 1.1f; jr.CollideConnected = true; _world.CreateJoint(jr); // upper body exit sd.SetAsBox(14.0f, 0.5f, new Vec2(-3.5f, -10.0f), 0.0f); bd.Position.Set(17.5f, 96.0f); body = _world.CreateBody(bd); body.CreateShape(sd); } // "Elastic body" 64 bodies - something like a lin. elastic compound // connected via dynamic forces (springs) { PolygonDef sd = new PolygonDef(); sd.SetAsBox(0.55f, 0.55f); sd.Density = 1.5f; sd.Friction = 0.01f; sd.Filter.GroupIndex = -1; Vec2 startpoint = new Vec2(30.0f, 20.0f); BodyDef bd = new BodyDef(); bd.IsBullet = false; bd.AllowSleep = false; for (int i = 0; i < 8; ++i) { for (int j = 0; j < 8; ++j) { bd.Position.Set(j * 1.02f, 2.51f + 1.02f * i); bd.Position += startpoint; Body body = _world.CreateBody(bd); bodies[8 * i + j] = body; body.CreateShape(sd); body.SetMassFromShapes(); } } } }
public Car(Physics ph,CarParams p,Pose pose) { this.p = p; car_angle0 = Helper.GetRelAngle(new Vec2(1, 0), forwardVec); body = ph.CreateBox(new Pose { xc = pose.xc, yc = pose.yc }, new Box2DX.Common.Vec2 { X = p.w, Y = p.h }, new BodyBehaviour { isDynamic = true, k = 0.98f * p.mass }); bodyFW1 = ph.CreateBox(new Pose { xc = pose.xc, yc = pose.yc + p.h_base / 2 }, new Box2DX.Common.Vec2 { X = p.w / 10, Y = p.h / 10 }, new BodyBehaviour { isDynamic = true, k = 0.01f * p.mass }); bodyBW1 = ph.CreateBox(new Pose { xc = pose.xc, yc = pose.yc + -p.h_base / 2 }, new Box2DX.Common.Vec2 { X = p.w / 10, Y = p.h / 10 }, new BodyBehaviour { isDynamic = true, k = 0.01f * p.mass }); var jFW1def = new RevoluteJointDef(); jFW1def.Initialize(body, bodyFW1, bodyFW1.GetWorldCenter()); jFW1def.EnableMotor = true; jFW1def.MaxMotorTorque = 1000; jFW1def.EnableLimit = true; jFW1def.LowerAngle = -p.max_steer_angle * Helper.angle_to_rad; jFW1def.UpperAngle = p.max_steer_angle * Helper.angle_to_rad; jFW1 = (RevoluteJoint)ph.world.CreateJoint(jFW1def); var jBW1def = new PrismaticJointDef(); jBW1def.Initialize(body, bodyBW1, bodyBW1.GetWorldCenter(), new Vec2(1, 0)); jBW1def.EnableLimit = true; jBW1def.UpperTranslation = jBW1def.LowerTranslation = 0; jBW1 = (PrismaticJoint)ph.world.CreateJoint(jBW1def); //LidarParams lp = new LidarParams() { dir_deg = 0, d0 = 2.2f, dist = 20, fov_deg = 60, x0 = 0, y0 = 0, num_rays = 20 }; var p1 = new LidarParams(); p1.InitDefault(); p1.d0 = p.h / 2 + 0.2f; InitLidar(p1); body.SetAngle(pose.angle_rad); //rcs = new RCS(this); }
public MotorsAndLimits() { Body ground = null; { PolygonDef sd = new PolygonDef(); sd.SetAsBox(50.0f, 10.0f); BodyDef bd = new BodyDef(); bd.Position.Set(0.0f, -10.0f); ground = _world.CreateBody(bd); ground.CreateShape(sd); } { PolygonDef sd = new PolygonDef(); sd.SetAsBox(2.0f, 0.5f); sd.Density = 5.0f; sd.Friction = 0.05f; BodyDef bd = new BodyDef(); RevoluteJointDef rjd = new RevoluteJointDef(); Body body = null; Body prevBody = ground; const float y = 8.0f; bd.Position.Set(3.0f, y); body = _world.CreateBody(bd); body.CreateShape(sd); body.SetMassFromShapes(); rjd.Initialize(prevBody, body, new Vec2(0.0f, y)); rjd.MotorSpeed = 1.0f * Box2DX.Common.Settings.Pi; rjd.MaxMotorTorque = 10000.0f; rjd.EnableMotor = true; _joint1 = (RevoluteJoint)_world.CreateJoint(rjd); prevBody = body; bd.Position.Set(9.0f, y); body = _world.CreateBody(bd); body.CreateShape(sd); body.SetMassFromShapes(); rjd.Initialize(prevBody, body, new Vec2(6.0f, y)); rjd.MotorSpeed = 0.5f * Box2DX.Common.Settings.Pi; rjd.MaxMotorTorque = 2000.0f; rjd.EnableMotor = true; rjd.LowerAngle = -0.5f * Box2DX.Common.Settings.Pi; rjd.UpperAngle = 0.5f * Box2DX.Common.Settings.Pi; rjd.EnableLimit = true; _joint2 = (RevoluteJoint)_world.CreateJoint(rjd); bd.Position.Set(-10.0f, 10.0f); bd.Angle = 0.5f * Box2DX.Common.Settings.Pi; body = _world.CreateBody(bd); body.CreateShape(sd); body.SetMassFromShapes(); PrismaticJointDef pjd = new PrismaticJointDef(); pjd.Initialize(ground, body, new Vec2(-10.0f, 10.0f), new Vec2(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; _joint3 = (PrismaticJoint)_world.CreateJoint(pjd); } }
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); } } }