public override void initTest(bool argDeserialized) { input.transformA = new Transform(); input.transformB = new Transform(); { m_transformA = new Transform(); m_transformA.setIdentity(); m_transformA.p.set(0.0f, -0.2f); m_polygonA = new PolygonShape(); m_polygonA.setAsBox(10.0f, 0.2f); } { m_positionB = new Vec2(); m_positionB.set(12.017401f, 0.13678508f); m_angleB = -0.0109265f; m_transformB = new Transform(); m_transformB.set(m_positionB, m_angleB); m_polygonB = new PolygonShape(); m_polygonB.setAsBox(2.0f, 0.1f); } for (int i = 0; i < v.Length; i++) { v[i] = new Vec2(); } }
public override void initTest(bool deserialized) { { BodyDef bd = new BodyDef(); bd.type = BodyType.DYNAMIC; bd.allowSleep = false; bd.position.set(0.0f, 10.0f); Body body = m_world.createBody(bd); PolygonShape shape = new PolygonShape(); shape.setAsBox(0.5f, 10.0f, new Vec2(20.0f, 0.0f), 0.0f); body.createFixture(shape, 5.0f); shape.setAsBox(0.5f, 10.0f, new Vec2(-20.0f, 0.0f), 0.0f); body.createFixture(shape, 5.0f); shape.setAsBox(20.0f, 0.5f, new Vec2(0.0f, 10.0f), 0.0f); body.createFixture(shape, 5.0f); shape.setAsBox(20.0f, 0.5f, new Vec2(0.0f, -10.0f), 0.0f); body.createFixture(shape, 5.0f); RevoluteJointDef jd = new RevoluteJointDef(); jd.bodyA = getGroundBody(); jd.bodyB = body; jd.localAnchorA.set(0.0f, 10.0f); jd.localAnchorB.set(0.0f, 0.0f); jd.referenceAngle = 0.0f; jd.motorSpeed = 0.05f*MathUtils.PI; jd.maxMotorTorque = 1e7f; jd.enableMotor = true; m_joint = (RevoluteJoint) m_world.createJoint(jd); } m_world.setParticleRadius(0.15f); m_world.setParticleDamping(0.2f); { ParticleGroupDef pd = new ParticleGroupDef(); pd.flags = 0; PolygonShape shape = new PolygonShape(); shape.setAsBox(9.0f, 9.0f, new Vec2(0.0f, 10.0f), 0.0f); pd.shape = shape; m_world.createParticleGroup(pd); } m_time = 0; }
public override void initTest(bool deserialized) { { BodyDef bd = new BodyDef(); bd.position.set(0.0f, 0.0f); Body body = m_world.createBody(bd); EdgeShape edge = new EdgeShape(); edge.set(new Vec2(-10.0f, 0.0f), new Vec2(10.0f, 0.0f)); body.createFixture(edge, 0.0f); PolygonShape shape = new PolygonShape(); shape.setAsBox(0.2f, 1.0f, new Vec2(0.5f, 1.0f), 0.0f); body.createFixture(shape, 0.0f); } { BodyDef bd = new BodyDef(); bd.type = BodyType.DYNAMIC; bd.position.set(0.0f, 4.0f); PolygonShape box = new PolygonShape(); box.setAsBox(2.0f, 0.1f); m_body = m_world.createBody(bd); m_body.createFixture(box, 1.0f); box.setAsBox(0.25f, 0.25f); // m_x = RandomFloat(-1.0f, 1.0f); m_x = -0.06530577f; bd.position.set(m_x, 10.0f); bd.bullet = true; m_bullet = m_world.createBody(bd); m_bullet.createFixture(box, 100.0f); m_bullet.setLinearVelocity(new Vec2(0.0f, -50.0f)); } }
public override void initTest(bool deserialized) { if (deserialized) { return; } Body ground = null; { BodyDef bd = new BodyDef(); ground = getWorld().createBody(bd); EdgeShape shape = new EdgeShape(); shape.set(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f)); ground.createFixture(shape, 0.0f); } { 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; float y = 25.0f; Body prevBody = ground; for (int i = 0; i < 30; ++i) { BodyDef bd = new BodyDef(); bd.type = BodyType.DYNAMIC; bd.position.set(0.5f + i, y); Body body = getWorld().createBody(bd); body.createFixture(fd); Vec2 anchor = new Vec2(i, y); jd.initialize(prevBody, body, anchor); getWorld().createJoint(jd); prevBody = body; } } }
public override void initTest(bool argDeserialized) { { BodyDef bd = new BodyDef(); bd.position.set(0.0f, 0.0f); Body body = getWorld().createBody(bd); EdgeShape shape = new EdgeShape(); shape.set(new Vec2(-10.0f, 0.0f), new Vec2(10.0f, 0.0f)); body.createFixture(shape, 0.0f); PolygonShape pshape = new PolygonShape(); pshape.setAsBox(0.2f, 1.0f, new Vec2(0.5f, 1.0f), 0.0f); body.createFixture(pshape, 0.0f); } m_poly = new PolygonShape(); m_poly.setAsBox(2.0f, 0.1f); m_circle = new CircleShape(); m_circle.m_p.setZero(); m_circle.m_radius = 0.5f; BodyDef bd2 = new BodyDef(); bd2.type = BodyType.DYNAMIC; bd2.position.set(0.0f, 20.0f); m_body = getWorld().createBody(bd2); currFixture = m_body.createFixture(m_poly, 1.0f); m_angularVelocity = (float) _random.NextDouble()*100 - 50; m_angularVelocity = 33.468121f; m_body.setLinearVelocity(new Vec2(0.0f, -100.0f)); m_body.setAngularVelocity(m_angularVelocity); TimeOfImpact.toiCalls = 0; TimeOfImpact.toiIters = 0; TimeOfImpact.toiMaxIters = 0; TimeOfImpact.toiRootIters = 0; TimeOfImpact.toiMaxRootIters = 0; }
public override void initTest(bool argDeserialized) { { BodyDef bd = new BodyDef(); Body ground = getWorld().createBody(bd); EdgeShape shape = new EdgeShape(); shape.set(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f)); ground.createFixture(shape, 0.0f); } BodyDef bd2 = new BodyDef(); bd2.type = BodyType.DYNAMIC; bd2.position.set(0.0f, 10.0f); m_body = getWorld().createBody(bd2); PolygonShape shape2 = new PolygonShape(); shape2.setAsBox(4.0f, 4.0f, new Vec2(0.0f, 0.0f), 0.0f); m_fixture1 = m_body.createFixture(shape2, 10.0f); m_fixture2 = null; }
public override void initTest(bool deserialized) { { 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; getGroundBody().createFixture(fd); } // Define motorized body { BodyDef bd = new BodyDef(); bd.type = BodyType.DYNAMIC; bd.position.set(0.0f, 8.0f); Body body = getWorld().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(getGroundBody(), body); mjd.maxForce = 1000.0f; mjd.maxTorque = 1000.0f; m_joint = (MotorJoint) m_world.createJoint(mjd); } m_go = false; m_time = 0.0f; }
public override void initTest(bool deserialized) { { BodyDef bd = new BodyDef(); Body ground = m_world.createBody(bd); ChainShape shape = new ChainShape(); Vec2[] vertices = new Vec2[] {new Vec2(-20, 0), new Vec2(20, 0), new Vec2(20, 40), new Vec2(-20, 40)}; shape.createLoop(vertices, 4); ground.createFixture(shape, 0.0f); } m_world.setParticleRadius(0.15f); m_world.setParticleDamping(0.2f); { PolygonShape shape = new PolygonShape(); shape.setAsBox(8, 10, new Vec2(-12, 10.1f), 0); ParticleGroupDef pd = new ParticleGroupDef(); pd.shape = shape; m_world.createParticleGroup(pd); } }
public override void initTest(bool argDeserialized) { if (argDeserialized) { return; } { // Floor PolygonShape sd = new PolygonShape(); sd.setAsBox(50.0f, 10.0f); BodyDef bd = new BodyDef(); bd.position = new Vec2(0.0f, -10.0f); getWorld().createBody(bd).createFixture(sd, 0f); } { ddensity = 10f; // Make bullet PolygonShape sd = new PolygonShape(); sd.setAsBox(.7f, .7f); FixtureDef fd = new FixtureDef(); fd.density = 35f; BodyDef bd = new BodyDef(); bd.type = BodyType.DYNAMIC; fd.shape = sd; fd.friction = 0f; fd.restitution = 0.85f; bd.bullet = true; // bd.addShape(sd); bd.position = new Vec2(30f, 50f); Body b = getWorld().createBody(bd); b.createFixture(fd); b.setLinearVelocity(new Vec2(-25f, -25f)); b.setAngularVelocity(6.7f); fd.density = 25f; bd.position = new Vec2(-30, 25f); b = getWorld().createBody(bd); b.createFixture(fd); b.setLinearVelocity(new Vec2(35f, -10f)); b.setAngularVelocity(-8.3f); } { float currX; // Make base for (int i = 0; i < baseCount; ++i) { currX = i*1.5f*dheight - (1.5f*dheight*baseCount/2f); makeDomino(currX, dheight/2.0f, false, m_world); makeDomino(currX, dheight + dwidth/2.0f, true, m_world); } currX = baseCount*1.5f*dheight - (1.5f*dheight*baseCount/2f); // Make 'I's for (int j = 1; j < baseCount; ++j) { if (j > 3) ddensity *= .8f; float currY = dheight*.5f + (dheight + 2f*dwidth)*.99f*j; // y at center of 'I' // structure for (int i = 0; i < baseCount - j; ++i) { currX = i*1.5f*dheight - (1.5f*dheight*(baseCount - j)/2f); // + // parent.random(-.05f, // .05f); ddensity *= 2.5f; if (i == 0) { makeDomino(currX - (1.25f*dheight) + .5f*dwidth, currY - dwidth, false, m_world); } if (i == baseCount - j - 1) { // if (j != 1) //djm: why is this here? it makes it off balance makeDomino(currX + (1.25f*dheight) - .5f*dwidth, currY - dwidth, false, m_world); } ddensity /= 2.5f; makeDomino(currX, currY, false, m_world); makeDomino(currX, currY + .5f*(dwidth + dheight), true, m_world); makeDomino(currX, currY - .5f*(dwidth + dheight), true, m_world); } } } }
public void makeDomino(float x, float y, bool horizontal, World world) { PolygonShape sd = new PolygonShape(); sd.setAsBox(.5f*dwidth, .5f*dheight); FixtureDef fd = new FixtureDef(); fd.shape = sd; fd.density = ddensity; BodyDef bd = new BodyDef(); bd.type = BodyType.DYNAMIC; fd.friction = dfriction; fd.restitution = 0.65f; bd.position = new Vec2(x, y); bd.angle = horizontal ? (float) (System.Math.PI/2.0) : 0f; Body myBody = getWorld().createBody(bd); myBody.createFixture(fd); }
public override void initTest(bool argDeserialized) { Body ground = null; { BodyDef bd = new BodyDef(); ground = getWorld().createBody(bd); EdgeShape shape = new EdgeShape(); shape.set(new Vec2(50.0f, 0.0f), new Vec2(-50.0f, 0.0f)); ground.createFixture(shape, 0.0f); } { CircleShape circle1 = new CircleShape(); circle1.m_radius = 1.0f; PolygonShape box = new PolygonShape(); box.setAsBox(0.5f, 5.0f); CircleShape circle2 = new CircleShape(); circle2.m_radius = 2.0f; BodyDef bd1 = new BodyDef(); bd1.type = BodyType.STATIC; bd1.position.set(10.0f, 9.0f); Body body1 = m_world.createBody(bd1); body1.createFixture(circle1, 5.0f); BodyDef bd2 = new BodyDef(); bd2.type = BodyType.DYNAMIC; bd2.position.set(10.0f, 8.0f); Body body2 = m_world.createBody(bd2); body2.createFixture(box, 5.0f); BodyDef bd3 = new BodyDef(); bd3.type = BodyType.DYNAMIC; bd3.position.set(10.0f, 6.0f); Body body3 = m_world.createBody(bd3); body3.createFixture(circle2, 5.0f); RevoluteJointDef jd1 = new RevoluteJointDef(); jd1.initialize(body2, body1, bd1.position); Joint joint1 = m_world.createJoint(jd1); RevoluteJointDef jd2 = new RevoluteJointDef(); jd2.initialize(body2, body3, bd3.position); Joint joint2 = m_world.createJoint(jd2); GearJointDef jd4 = new GearJointDef(); jd4.bodyA = body1; jd4.bodyB = body3; jd4.joint1 = joint1; jd4.joint2 = joint2; jd4.ratio = circle2.m_radius/circle1.m_radius; m_world.createJoint(jd4); } { CircleShape circle1 = new CircleShape(); circle1.m_radius = 1.0f; CircleShape circle2 = new CircleShape(); circle2.m_radius = 2.0f; PolygonShape box = new PolygonShape(); box.setAsBox(0.5f, 5.0f); BodyDef bd1 = new BodyDef(); bd1.type = BodyType.DYNAMIC; bd1.position.set(-3.0f, 12.0f); Body body1 = m_world.createBody(bd1); body1.createFixture(circle1, 5.0f); RevoluteJointDef jd1 = new RevoluteJointDef(); jd1.bodyA = ground; jd1.bodyB = body1; ground.getLocalPointToOut(bd1.position, ref jd1.localAnchorA); body1.getLocalPointToOut(bd1.position, ref jd1.localAnchorB); jd1.referenceAngle = body1.getAngle() - ground.getAngle(); m_joint1 = (RevoluteJoint) m_world.createJoint(jd1); BodyDef bd2 = new BodyDef(); bd2.type = BodyType.DYNAMIC; bd2.position.set(0.0f, 12.0f); Body body2 = m_world.createBody(bd2); body2.createFixture(circle2, 5.0f); RevoluteJointDef jd2 = new RevoluteJointDef(); jd2.initialize(ground, body2, bd2.position); m_joint2 = (RevoluteJoint) m_world.createJoint(jd2); BodyDef bd3 = new BodyDef(); bd3.type = BodyType.DYNAMIC; bd3.position.set(2.5f, 12.0f); Body body3 = m_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; m_joint3 = (PrismaticJoint) m_world.createJoint(jd3); GearJointDef jd4 = new GearJointDef(); jd4.bodyA = body1; jd4.bodyB = body2; jd4.joint1 = m_joint1; jd4.joint2 = m_joint2; jd4.ratio = circle2.m_radius/circle1.m_radius; m_joint4 = (GearJoint) m_world.createJoint(jd4); GearJointDef jd5 = new GearJointDef(); jd5.bodyA = body2; jd5.bodyB = body3; jd5.joint1 = m_joint2; jd5.joint2 = m_joint3; jd5.ratio = 1f/circle2.m_radius; m_joint5 = (GearJoint) m_world.createJoint(jd5); } }
public override void initTest(bool deserialized) { if (deserialized) { return; } Body pendulum; Body pendulumBase; Body ground; { CircleShape circleShape = new CircleShape(); circleShape.m_radius = 1; Shape shape = circleShape; BodyDef bodyDef = new BodyDef(); bodyDef.type = BodyType.DYNAMIC; bodyDef.position.set(-5, 0); bodyDef.allowSleep = false; pendulum = getWorld().createBody(bodyDef); pendulum.createFixture(shape, 1); } { PolygonShape shape = new PolygonShape(); shape.setAsBox(1, 1); BodyDef bodyDef = new BodyDef(); bodyDef.type = BodyType.DYNAMIC; bodyDef.position.set(0, 2); bodyDef.allowSleep = false; pendulumBase = getWorld().createBody(bodyDef); pendulumBase.createFixture(shape, 1); } { PolygonShape shape = new PolygonShape(); shape.setAsBox(3, 1); BodyDef bodyDef = new BodyDef(); bodyDef.type = BodyType.STATIC; ground = getWorld().createBody(bodyDef); ground.createFixture(shape, 0); } RevoluteJointDef jointDef = new RevoluteJointDef(); if (switchBodiesInJoint) jointDef.initialize(pendulum, pendulumBase, new Vec2(0, 0)); else jointDef.initialize(pendulumBase, pendulum, new Vec2(0, 0)); getWorld().createJoint(jointDef); }
public override void initTest(bool deserialized) { if (deserialized) { return; } // 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 = getWorld().createBody(bd); ground.createFixture(sd); } // Small triangle Vec2[] vertices = new Vec2[3]; vertices[0] = new Vec2(-1.0f, 0.0f); vertices[1] = new Vec2(1.0f, 0.0f); vertices[2] = new Vec2(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.DYNAMIC; triangleBodyDef.position.set(-5.0f, 2.0f); Body body1 = getWorld().createBody(triangleBodyDef); body1.createFixture(triangleShapeDef); // Large triangle (recycle definitions) vertices[0].mulLocal(2.0f); vertices[1].mulLocal(2.0f); vertices[2].mulLocal(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 = getWorld().createBody(triangleBodyDef); body2.createFixture(triangleShapeDef); { BodyDef bd = new BodyDef(); bd.type = BodyType.DYNAMIC; bd.position.set(-5.0f, 10.0f); Body body = getWorld().createBody(bd); PolygonShape p = new PolygonShape(); p.setAsBox(0.5f, 1.0f); body.createFixture(p, 1.0f); 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; getWorld().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.DYNAMIC; boxBodyDef.position.set(0.0f, 2.0f); Body body3 = getWorld().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 = getWorld().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.DYNAMIC; circleBodyDef.position.set(5.0f, 2.0f); Body body5 = getWorld().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 = getWorld().createBody(circleBodyDef); body6.createFixture(circleShapeDef); }
public override void initTest(bool deserialized) { if (deserialized) { return; } 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 = {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.DYNAMIC; Body body = m_world.createBody(bd); PolygonShape box = new PolygonShape(); box.setAsBox(10.0f, 0.25f); body.createFixture(box, 1.0f); RevoluteJointDef jd = new RevoluteJointDef(); jd.initialize(ground, body, body.getPosition()); jd.lowerAngle = -8.0f*MathUtils.PI/180.0f; jd.upperAngle = 8.0f*MathUtils.PI/180.0f; jd.enableLimit = true; m_world.createJoint(jd); body.applyAngularImpulse(100.0f); } // 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.DYNAMIC; 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); Body body = null; BodyDef bd = new BodyDef(); bd.type = BodyType.DYNAMIC; bd.position.set(230.0f, 0.5f); body = m_world.createBody(bd); body.createFixture(box, 0.5f); bd.position.set(230.0f, 1.5f); body = m_world.createBody(bd); body.createFixture(box, 0.5f); bd.position.set(230.0f, 2.5f); body = m_world.createBody(bd); body.createFixture(box, 0.5f); bd.position.set(230.0f, 3.5f); body = m_world.createBody(bd); body.createFixture(box, 0.5f); bd.position.set(230.0f, 4.5f); body = m_world.createBody(bd); body.createFixture(box, 0.5f); } // Car { PolygonShape chassis = new PolygonShape(); Vec2[] vertices = new Vec2[8]; vertices[0] = new Vec2(-1.5f, -0.5f); vertices[1] = new Vec2(1.5f, -0.5f); vertices[2] = new Vec2(1.5f, 0.0f); vertices[3] = new Vec2(0.0f, 0.9f); vertices[4] = new Vec2(-1.15f, 0.9f); vertices[5] = new Vec2(-1.5f, 0.2f); chassis.set(vertices, 6); CircleShape circle = new CircleShape(); circle.m_radius = 0.4f; BodyDef bd = new BodyDef(); bd.type = BodyType.DYNAMIC; bd.position.set(0.0f, 1.0f); m_car = m_world.createBody(bd); m_car.createFixture(chassis, 1.0f); 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 override void initTest(bool deserialized) { //m_state = State.e_unknown; if (deserialized) { return; } // Ground { BodyDef bd = new BodyDef(); Body ground = getWorld().createBody(bd); EdgeShape shape = new EdgeShape(); shape.set(new Vec2(-20.0f, 0.0f), new Vec2(20.0f, 0.0f)); ground.createFixture(shape, 0.0f); } // Platform { BodyDef bd = new BodyDef(); bd.position.set(0.0f, 10.0f); Body body = getWorld().createBody(bd); PolygonShape shape = new PolygonShape(); shape.setAsBox(3.0f, 0.5f); m_platform = body.createFixture(shape, 0.0f); //m_bottom = 10.0f - 0.5f; m_top = 10.0f + 0.5f; } // Actor { BodyDef bd = new BodyDef(); bd.type = BodyType.DYNAMIC; bd.position.set(0.0f, 12.0f); Body body = getWorld().createBody(bd); m_radius = 0.5f; CircleShape shape = new CircleShape(); shape.m_radius = m_radius; m_character = body.createFixture(shape, 20.0f); body.setLinearVelocity(new Vec2(0.0f, -50.0f)); //m_state = State.e_unknown; } }
public override void initTest(bool deserialized) { if (deserialized) { return; } // Ground body { BodyDef bd = new BodyDef(); Body ground = getWorld().createBody(bd); EdgeShape shape = new EdgeShape(); shape.set(new Vec2(-20.0f, 0.0f), new Vec2(20.0f, 0.0f)); ground.createFixture(shape, 0.0f); } // Collinear edges // This shows the problematic case where a box shape can hit // an internal vertex. { BodyDef bd = new BodyDef(); Body ground = getWorld().createBody(bd); EdgeShape shape = new EdgeShape(); shape.m_radius = 0.0f; shape.set(new Vec2(-8.0f, 1.0f), new Vec2(-6.0f, 1.0f)); ground.createFixture(shape, 0.0f); shape.set(new Vec2(-6.0f, 1.0f), new Vec2(-4.0f, 1.0f)); ground.createFixture(shape, 0.0f); shape.set(new Vec2(-4.0f, 1.0f), new Vec2(-2.0f, 1.0f)); ground.createFixture(shape, 0.0f); } // Chain shape { BodyDef bd = new BodyDef(); bd.angle = 0.25f*MathUtils.PI; Body ground = getWorld().createBody(bd); Vec2[] vs = new Vec2[4]; vs[0] = new Vec2(5.0f, 7.0f); vs[1] = new Vec2(6.0f, 8.0f); vs[2] = new Vec2(7.0f, 8.0f); vs[3] = new Vec2(8.0f, 7.0f); ChainShape shape = new ChainShape(); shape.createChain(vs, 4); ground.createFixture(shape, 0.0f); } // 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 = getWorld().createBody(bd); PolygonShape shape = new PolygonShape(); shape.setAsBox(1.0f, 1.0f, new Vec2(4.0f, 3.0f), 0.0f); ground.createFixture(shape, 0.0f); shape.setAsBox(1.0f, 1.0f, new Vec2(6.0f, 3.0f), 0.0f); ground.createFixture(shape, 0.0f); shape.setAsBox(1.0f, 1.0f, new Vec2(8.0f, 3.0f), 0.0f); ground.createFixture(shape, 0.0f); } // 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] = new Vec2(-1.0f, 3.0f); vs[1] = new Vec2(1.0f, 3.0f); vs[2] = new Vec2(1.0f, 5.0f); vs[3] = new Vec2(-1.0f, 5.0f); ChainShape shape = new ChainShape(); shape.createLoop(vs, 4); ground.createFixture(shape, 0.0f); } // Edge loop. Collision should be smooth. { BodyDef bd = new BodyDef(); bd.position.set(-10.0f, 4.0f); Body ground = getWorld().createBody(bd); Vec2[] vs = new Vec2[10]; vs[0] = new Vec2(0.0f, 0.0f); vs[1] = new Vec2(6.0f, 0.0f); vs[2] = new Vec2(6.0f, 2.0f); vs[3] = new Vec2(4.0f, 1.0f); vs[4] = new Vec2(2.0f, 2.0f); vs[5] = new Vec2(0.0f, 2.0f); vs[6] = new Vec2(-2.0f, 2.0f); vs[7] = new Vec2(-4.0f, 3.0f); vs[8] = new Vec2(-6.0f, 2.0f); vs[9] = new Vec2(-6.0f, 0.0f); ChainShape shape = new ChainShape(); shape.createLoop(vs, 10); ground.createFixture(shape, 0.0f); } // Square character 1 { BodyDef bd = new BodyDef(); bd.position.set(-3.0f, 8.0f); bd.type = BodyType.DYNAMIC; bd.fixedRotation = true; bd.allowSleep = false; Body body = getWorld().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.DYNAMIC; bd.fixedRotation = true; bd.allowSleep = false; Body body = getWorld().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.DYNAMIC; bd.fixedRotation = true; bd.allowSleep = false; Body body = getWorld().createBody(bd); float angle = 0.0f; float delta = MathUtils.PI/3.0f; Vec2[] vertices = new Vec2[6]; for (int i = 0; i < 6; ++i) { vertices[i] = new Vec2(0.5f*MathUtils.cos(angle), 0.5f*MathUtils.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.DYNAMIC; bd.fixedRotation = true; bd.allowSleep = false; Body body = getWorld().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.DYNAMIC; bd.allowSleep = false; m_character = getWorld().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; m_character.createFixture(fd); } }
public override void initTest(bool deserialized) { if (deserialized) { return; } // 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 = getWorld().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] = new Vec2(-1.0f, 0.0f); vertices[1] = new Vec2(1.0f, 0.0f); vertices[2] = new Vec2(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.DYNAMIC; triangleBodyDef.position.set(MathUtils.randomFloat(xLo, xHi), MathUtils.randomFloat(yLo, yHi)); Body body1 = getWorld().createBody(triangleBodyDef); body1.createFixture(triangleShapeDef); // Large triangle (recycle definitions) vertices[0].mulLocal(2.0f); vertices[1].mulLocal(2.0f); vertices[2].mulLocal(2.0f); polygon.set(vertices, 3); triangleBodyDef.position.set(MathUtils.randomFloat(xLo, xHi), MathUtils.randomFloat(yLo, yHi)); Body body2 = getWorld().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.DYNAMIC; boxBodyDef.position.set(MathUtils.randomFloat(xLo, xHi), MathUtils.randomFloat(yLo, yHi)); Body body3 = getWorld().createBody(boxBodyDef); body3.createFixture(boxShapeDef); // Large box (recycle definitions) polygon.setAsBox(2.0f, 1.0f); boxBodyDef.position.set(MathUtils.randomFloat(xLo, xHi), MathUtils.randomFloat(yLo, yHi)); Body body4 = getWorld().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.DYNAMIC; circleBodyDef.position.set(MathUtils.randomFloat(xLo, xHi), MathUtils.randomFloat(yLo, yHi)); Body body5 = getWorld().createBody(circleBodyDef); body5.createFixture(circleShapeDef); // Large circle circle.m_radius *= 2.0f; circleBodyDef.position.set(MathUtils.randomFloat(xLo, xHi), MathUtils.randomFloat(yLo, yHi)); Body body6 = getWorld().createBody(circleBodyDef); body6.createFixture(circleShapeDef); }
public override void initTest(bool deserialized) { if (deserialized) { return; } { BodyDef bd = new BodyDef(); bd.position.set(0.0f, 0.0f); Body body = getWorld().createBody(bd); EdgeShape shape = new EdgeShape(); shape.set(new Vec2(50.0f, 0.0f), new Vec2(-50.0f, 0.0f)); body.createFixture(shape, 0.0f); } { CircleShape circle1 = new CircleShape(); circle1.m_radius = 0.5f; circle1.m_p.set(-0.5f, 0.5f); CircleShape circle2 = new CircleShape(); ; circle2.m_radius = 0.5f; circle2.m_p.set(0.5f, 0.5f); for (int i = 0; i < 10; ++i) { float x = MathUtils.randomFloat(-0.1f, 0.1f); BodyDef bd = new BodyDef(); bd.type = BodyType.DYNAMIC; bd.position.set(x + 5.0f, 1.05f + 2.5f*i); bd.angle = MathUtils.randomFloat(-MathUtils.PI, MathUtils.PI); Body body = getWorld().createBody(bd); body.createFixture(circle1, 2.0f); body.createFixture(circle2, 0.0f); } } { 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*MathUtils.PI); for (int i = 0; i < 10; ++i) { float x = MathUtils.randomFloat(-0.1f, 0.1f); BodyDef bd = new BodyDef(); bd.type = BodyType.DYNAMIC; bd.position.set(x - 5.0f, 1.05f + 2.5f*i); bd.angle = MathUtils.randomFloat(-MathUtils.PI, MathUtils.PI); Body body = getWorld().createBody(bd); body.createFixture(polygon1, 2.0f); body.createFixture(polygon2, 2.0f); } } { Transform xf1 = new Transform(); xf1.q.set(0.3524f*MathUtils.PI); Rot.mulToOut(xf1.q, new Vec2(1.0f, 0.0f), ref xf1.p); Vec2[] vertices = new Vec2[3]; PolygonShape triangle1 = new PolygonShape(); vertices[0] = Transform.mul(xf1, new Vec2(-1.0f, 0.0f)); vertices[1] = Transform.mul(xf1, new Vec2(1.0f, 0.0f)); vertices[2] = Transform.mul(xf1, new Vec2(0.0f, 0.5f)); triangle1.set(vertices, 3); Transform xf2 = new Transform(); xf2.q.set(-0.3524f*MathUtils.PI); Rot.mulToOut(xf2.q, new Vec2(-1.0f, 0.0f), ref xf2.p); PolygonShape triangle2 = new PolygonShape(); vertices[0] = Transform.mul(xf2, new Vec2(-1.0f, 0.0f)); vertices[1] = Transform.mul(xf2, new Vec2(1.0f, 0.0f)); vertices[2] = Transform.mul(xf2, new Vec2(0.0f, 0.5f)); triangle2.set(vertices, 3); for (int i = 0; i < 10; ++i) { float x = MathUtils.randomFloat(-0.1f, 0.1f); BodyDef bd = new BodyDef(); bd.type = BodyType.DYNAMIC; bd.position.set(x, 2.05f + 2.5f*i); bd.angle = 0.0f; Body body = getWorld().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.type = BodyType.DYNAMIC; bd.position.set(0.0f, 2.0f); Body body = getWorld().createBody(bd); body.createFixture(bottom, 4.0f); body.createFixture(left, 4.0f); body.createFixture(right, 4.0f); } }
public override void initTest(bool argDeserialized) { if (argDeserialized) { return; } { // Floor FixtureDef fd = new FixtureDef(); PolygonShape sd = new PolygonShape(); sd.setAsBox(50.0f, 10.0f); fd.shape = sd; BodyDef bd = new BodyDef(); bd.position = new Vec2(0.0f, -10.0f); getWorld().createBody(bd).createFixture(fd); } { // Platforms for (int i = 0; i < 4; i++) { FixtureDef fd = new FixtureDef(); PolygonShape sd = new PolygonShape(); sd.setAsBox(15.0f, 0.125f); fd.shape = sd; BodyDef bd = new BodyDef(); bd.position = new Vec2(0.0f, 5f + 5f*i); getWorld().createBody(bd).createFixture(fd); } } { FixtureDef fd = new FixtureDef(); PolygonShape sd = new PolygonShape(); sd.setAsBox(0.125f, 2f); fd.shape = sd; fd.density = 25.0f; BodyDef bd = new BodyDef(); bd.type = BodyType.DYNAMIC; float friction = .5f; int numPerRow = 25; for (int i = 0; i < 4; ++i) { for (int j = 0; j < numPerRow; j++) { fd.friction = friction; bd.position = new Vec2(-14.75f + j*(29.5f/(numPerRow - 1)), 7.3f + 5f*i); if (i == 2 && j == 0) { bd.angle = -0.1f; bd.position.x += .1f; } else if (i == 3 && j == numPerRow - 1) { bd.angle = .1f; bd.position.x -= .1f; } else bd.angle = 0f; Body myBody = getWorld().createBody(bd); myBody.createFixture(fd); } } } }
public override void initTest(bool deserialized) { { BodyDef bd = new BodyDef(); Body ground = m_world.createBody(bd); ChainShape shape = new ChainShape(); Vec2[] vertices = new Vec2[] {new Vec2(-20, 0), new Vec2(20, 0), new Vec2(20, 40), new Vec2(-20, 40)}; shape.createLoop(vertices, 4); ground.createFixture(shape, 0.0f); } m_world.setParticleRadius(0.15f); { PolygonShape shape = new PolygonShape(); shape.setAsBox(20, 4, new Vec2(0, 36), 0); ParticleGroupDef pd = new ParticleGroupDef(); pd.flags = ParticleType.b2_tensileParticle | ParticleType.b2_viscousParticle; pd.shape = shape; m_world.createParticleGroup(pd); } { BodyDef bd = new BodyDef(); Body body = m_world.createBody(bd); EdgeShape shape = new EdgeShape(); shape.set(new Vec2(-20, 32), new Vec2(-12, 32)); body.createFixture(shape, 0.1f); } { BodyDef bd = new BodyDef(); Body body = m_world.createBody(bd); EdgeShape shape = new EdgeShape(); shape.set(new Vec2(-11, 32), new Vec2(20, 32)); body.createFixture(shape, 0.1f); } { BodyDef bd = new BodyDef(); Body body = m_world.createBody(bd); EdgeShape shape = new EdgeShape(); shape.set(new Vec2(-12, 32), new Vec2(-12, 28)); body.createFixture(shape, 0.1f); } { BodyDef bd = new BodyDef(); Body body = m_world.createBody(bd); EdgeShape shape = new EdgeShape(); shape.set(new Vec2(-11, 32), new Vec2(-11, 28)); body.createFixture(shape, 0.1f); } { BodyDef bd = new BodyDef(); Body body = m_world.createBody(bd); EdgeShape shape = new EdgeShape(); shape.set(new Vec2(-16, 24), new Vec2(8, 20)); body.createFixture(shape, 0.1f); } { BodyDef bd = new BodyDef(); Body body = m_world.createBody(bd); EdgeShape shape = new EdgeShape(); shape.set(new Vec2(16, 16), new Vec2(-8, 12)); body.createFixture(shape, 0.1f); } { BodyDef bd = new BodyDef(); Body body = m_world.createBody(bd); EdgeShape shape = new EdgeShape(); shape.set(new Vec2(-12, 8), new Vec2(-12, 0)); body.createFixture(shape, 0.1f); } { BodyDef bd = new BodyDef(); Body body = m_world.createBody(bd); EdgeShape shape = new EdgeShape(); shape.set(new Vec2(-4, 8), new Vec2(-4, 0)); body.createFixture(shape, 0.1f); } { BodyDef bd = new BodyDef(); Body body = m_world.createBody(bd); EdgeShape shape = new EdgeShape(); shape.set(new Vec2(4, 8), new Vec2(4, 0)); body.createFixture(shape, 0.1f); } { BodyDef bd = new BodyDef(); Body body = m_world.createBody(bd); EdgeShape shape = new EdgeShape(); shape.set(new Vec2(12, 8), new Vec2(12, 0)); body.createFixture(shape, 0.1f); } }
public override void initTest(bool argDeserialized) { if (argDeserialized) { return; } Body leftWall = null; Body rightWall = null; { // Ground PolygonShape sd = new PolygonShape(); sd.setAsBox(50.0f, 10.0f); BodyDef bd = new BodyDef(); bd.type = BodyType.STATIC; bd.position = new Vec2(0.0f, -10.0f); Body b = getWorld().createBody(bd); FixtureDef fd = new FixtureDef(); fd.shape = sd; fd.friction = 1.0f; b.createFixture(fd); // Walls sd.setAsBox(3.0f, 50.0f); bd = new BodyDef(); bd.position = new Vec2(45.0f, 25.0f); rightWall = getWorld().createBody(bd); rightWall.createFixture(sd, 0); bd.position = new Vec2(-45.0f, 25.0f); leftWall = getWorld().createBody(bd); leftWall.createFixture(sd, 0); // Corners bd = new BodyDef(); sd.setAsBox(20.0f, 3.0f); bd.angle = (float) (-System.Math.PI/4.0); bd.position = new Vec2(-35f, 8.0f); Body myBod = getWorld().createBody(bd); myBod.createFixture(sd, 0); bd.angle = (float) (System.Math.PI/4.0); bd.position = new Vec2(35f, 8.0f); myBod = getWorld().createBody(bd); myBod.createFixture(sd, 0); // top sd.setAsBox(50.0f, 10.0f); bd.type = BodyType.STATIC; bd.angle = 0; bd.position = new Vec2(0.0f, 75.0f); b = getWorld().createBody(bd); fd.shape = sd; fd.friction = 1.0f; b.createFixture(fd); } CircleShape cd; FixtureDef fd2 = new FixtureDef(); BodyDef bd2 = new BodyDef(); bd2.type = BodyType.DYNAMIC; int numPieces = 5; float radius = 6f; bd2.position = new Vec2(0.0f, 10.0f); Body body = getWorld().createBody(bd2); for (int i = 0; i < numPieces; i++) { cd = new CircleShape(); cd.m_radius = 1.2f; fd2.shape = cd; fd2.density = 25; fd2.friction = .1f; fd2.restitution = .9f; float xPos = radius*(float) System.Math.Cos(2f*System.Math.PI*(i/(float) (numPieces))); float yPos = radius*(float) System.Math.Sin(2f*System.Math.PI*(i/(float) (numPieces))); cd.m_p.set(xPos, yPos); body.createFixture(fd2); } body.setBullet(false); RevoluteJointDef rjd = new RevoluteJointDef(); rjd.initialize(body, getGroundBody(), body.getPosition()); rjd.motorSpeed = MathUtils.PI; rjd.maxMotorTorque = 1000000.0f; rjd.enableMotor = true; joint = (RevoluteJoint) getWorld().createJoint(rjd); { int loadSize = 41; for (int j = 0; j < 15; j++) { for (int i = 0; i < loadSize; i++) { CircleShape circ = new CircleShape(); BodyDef bod = new BodyDef(); bod.type = BodyType.DYNAMIC; circ.m_radius = 1.0f + (i%2 == 0 ? 1.0f : -1.0f)*.5f*MathUtils.randomFloat(.5f, 1f); FixtureDef fd3 = new FixtureDef(); fd3.shape = circ; fd3.density = circ.m_radius*1.5f; fd3.friction = 0.5f; fd3.restitution = 0.7f; float xPos = -39f + 2*i; float yPos = 50f + j; bod.position = new Vec2(xPos, yPos); Body myBody = getWorld().createBody(bod); myBody.createFixture(fd3); } } } getWorld().setGravity(new Vec2(0, -50)); }
public override void initTest(bool deserialized) { if (deserialized) { return; } getWorld().setGravity(new Vec2(0.0f, 0.0f)); float k_restitution = 0.4f; Body ground; { BodyDef bd = new BodyDef(); bd.position.set(0.0f, 20.0f); ground = getWorld().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*MathUtils.PI); Rot.mulToOutUnsafe(xf1.q, new Vec2(1.0f, 0.0f), ref xf1.p); Vec2[] vertices = new Vec2[3]; vertices[0] = Transform.mul(xf1, new Vec2(-1.0f, 0.0f)); vertices[1] = Transform.mul(xf1, new Vec2(1.0f, 0.0f)); vertices[2] = Transform.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*MathUtils.PI); Rot.mulToOut(xf2.q, new Vec2(-1.0f, 0.0f), ref xf2.p); vertices[0] = Transform.mul(xf2, new Vec2(-1.0f, 0.0f)); vertices[1] = Transform.mul(xf2, new Vec2(1.0f, 0.0f)); vertices[2] = Transform.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.DYNAMIC; bd.angularDamping = 2.0f; bd.linearDamping = 0.5f; bd.position.set(0.0f, 2.0f); bd.angle = MathUtils.PI; bd.allowSleep = false; m_body = getWorld().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.DYNAMIC; bd.position.set(0.0f, 5.0f + 1.54f*i); Body body = getWorld().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 = MathUtils.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; getWorld().createJoint(jd); } } }
public override void initTest(bool deserialized) { if (deserialized) { return; } Body ground = null; { BodyDef bd = new BodyDef(); ground = getWorld().createBody(bd); EdgeShape shape = new EdgeShape(); shape.set(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f)); ground.createFixture(shape, 0.0f); } { PolygonShape shape = new PolygonShape(); shape.setAsBox(2.0f, 0.5f); BodyDef bd = new BodyDef(); bd.type = BodyType.DYNAMIC; bd.position.set(-10.0f, 10.0f); bd.angle = 0.5f*MathUtils.PI; bd.allowSleep = false; Body body = getWorld().createBody(bd); body.createFixture(shape, 5.0f); PrismaticJointDef pjd = new PrismaticJointDef(); // Bouncy limit Vec2 axis = new Vec2(2.0f, 1.0f); axis.normalize(); pjd.initialize(ground, body, new Vec2(0.0f, 0.0f), axis); // Non-bouncy limit // pjd.Initialize(ground, body, Vec2(-10.0f, 10.0f), Vec2(1.0f, 0.0f)); pjd.motorSpeed = 10.0f; pjd.maxMotorForce = 10000.0f; pjd.enableMotor = true; pjd.lowerTranslation = 0.0f; pjd.upperTranslation = 20.0f; pjd.enableLimit = true; m_joint = (PrismaticJoint) getWorld().createJoint(pjd); } }
public override void initTest(bool deserialized) { if (deserialized) { return; } { BodyDef bd = new BodyDef(); Body ground = getWorld().createBody(bd); EdgeShape shape = new EdgeShape(); // shape.setAsBox(40, 10, new Vec2(0,-10), 0); shape.set(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f)); ground.createFixture(shape, 0.0f); shape.set(new Vec2(20.0f, 0.0f), new Vec2(20.0f, 20.0f)); ground.createFixture(shape, 0.0f); } float[] xs = new float[] {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.DYNAMIC; int n = j*e_rowCount + i; Debug.Assert(n < e_rowCount*e_columnCount); 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 = getWorld().createBody(bd); body.createFixture(fd); } } m_bullet = null; }
public override void initTest(bool deserialized) { if (deserialized) { return; } // Ground { EdgeShape shape = new EdgeShape(); shape.set(new Vec2(-20.0f, 0.0f), new Vec2(20.0f, 0.0f)); getGroundBody().createFixture(shape, 0.0f); } // Platform { BodyDef bd = new BodyDef(); bd.position.set(-5.0f, 5.0f); Body body = getWorld().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.DYNAMIC; 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); body.createFixture(shape, 20.0f); } }
public override void initTest(bool argDeserialized) { if (argDeserialized) { return; } 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 = getWorld().createBody(bd); EdgeShape shape = new EdgeShape(); shape.set(new Vec2(-50.0f, 0.0f), new Vec2(50.0f, 0.0f)); ground.createFixture(shape, 0.0f); shape.set(new Vec2(-50.0f, 0.0f), new Vec2(-50.0f, 10.0f)); ground.createFixture(shape, 0.0f); shape.set(new Vec2(50.0f, 0.0f), new Vec2(50.0f, 10.0f)); ground.createFixture(shape, 0.0f); } // Balls for (int i = 0; i < 40; ++i) { CircleShape shape = new CircleShape(); shape.m_radius = 0.25f; BodyDef bd = new BodyDef(); bd.type = BodyType.DYNAMIC; bd.position.set(-40.0f + 2.0f*i, 0.5f); Body body = getWorld().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.type = BodyType.DYNAMIC; bd.position.set(pivot); bd.position.addLocal(m_offset); m_chassis = getWorld().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.DYNAMIC; bd.position.set(pivot); bd.position.addLocal(m_offset); m_wheel = getWorld().createBody(bd); m_wheel.createFixture(sd); } { RevoluteJointDef jd = new RevoluteJointDef(); jd.initialize(m_wheel, m_chassis, pivot.add(m_offset)); jd.collideConnected = false; jd.motorSpeed = m_motorSpeed; jd.maxMotorTorque = 400.0f; jd.enableMotor = m_motorOn; m_motorJoint = (RevoluteJoint) getWorld().createJoint(jd); } Vec2 wheelAnchor; wheelAnchor = pivot.add(new Vec2(0.0f, -0.8f)); createLeg(-1.0f, wheelAnchor); createLeg(1.0f, wheelAnchor); m_wheel.setTransform(m_wheel.getPosition(), 120.0f*MathUtils.PI/180.0f); createLeg(-1.0f, wheelAnchor); createLeg(1.0f, wheelAnchor); m_wheel.setTransform(m_wheel.getPosition(), -120.0f*MathUtils.PI/180.0f); createLeg(-1.0f, wheelAnchor); createLeg(1.0f, wheelAnchor); }
public override void initTest(bool argDeserialized) { if (argDeserialized) { return; } Body ground = null; { BodyDef bd = new BodyDef(); ground = getWorld().createBody(bd); EdgeShape shape = new EdgeShape(); shape.set(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f)); ground.createFixture(shape, 0.0f); } { PolygonShape shape = new PolygonShape(); shape.setAsBox(0.5f, 0.125f); FixtureDef fd = new FixtureDef(); fd.shape = shape; fd.density = 20.0f; WeldJointDef jd = new WeldJointDef(); Body prevBody = ground; for (int i = 0; i < e_count; ++i) { BodyDef bd = new BodyDef(); bd.type = BodyType.DYNAMIC; bd.position.set(-14.5f + 1.0f*i, 5.0f); Body body = getWorld().createBody(bd); body.createFixture(fd); Vec2 anchor = new Vec2(-15.0f + 1.0f*i, 5.0f); jd.initialize(prevBody, body, anchor); getWorld().createJoint(jd); prevBody = body; } } { PolygonShape shape = new PolygonShape(); shape.setAsBox(1f, 0.125f); FixtureDef fd = new FixtureDef(); fd.shape = shape; fd.density = 20.0f; WeldJointDef jd = new WeldJointDef(); jd.frequencyHz = 5f; jd.dampingRatio = .7f; Body prevBody = ground; for (int i = 0; i < 3; ++i) { BodyDef bd = new BodyDef(); bd.type = BodyType.DYNAMIC; bd.position.set(-14.0f + 2.0f*i, 15.0f); Body body = getWorld().createBody(bd); body.createFixture(fd); Vec2 anchor = new Vec2(-15.0f + 2.0f*i, 15.0f); jd.initialize(prevBody, body, anchor); getWorld().createJoint(jd); prevBody = body; } } { PolygonShape shape = new PolygonShape(); shape.setAsBox(0.5f, 0.125f); FixtureDef fd = new FixtureDef(); fd.shape = shape; fd.density = 20.0f; WeldJointDef jd = new WeldJointDef(); Body prevBody = ground; for (int i = 0; i < e_count; ++i) { BodyDef bd = new BodyDef(); bd.type = BodyType.DYNAMIC; bd.position.set(-4.5f + 1.0f*i, 5.0f); Body body = getWorld().createBody(bd); body.createFixture(fd); if (i > 0) { Vec2 anchor = new Vec2(-5.0f + 1.0f*i, 5.0f); jd.initialize(prevBody, body, anchor); getWorld().createJoint(jd); } prevBody = body; } } { PolygonShape shape = new PolygonShape(); shape.setAsBox(0.5f, 0.125f); FixtureDef fd = new FixtureDef(); fd.shape = shape; fd.density = 20.0f; WeldJointDef jd = new WeldJointDef(); jd.frequencyHz = 8f; jd.dampingRatio = .7f; Body prevBody = ground; for (int i = 0; i < e_count; ++i) { BodyDef bd = new BodyDef(); bd.type = BodyType.DYNAMIC; bd.position.set(5.5f + 1.0f*i, 10.0f); Body body = getWorld().createBody(bd); body.createFixture(fd); if (i > 0) { Vec2 anchor = new Vec2(5.0f + 1.0f*i, 10.0f); jd.initialize(prevBody, body, anchor); getWorld().createJoint(jd); } prevBody = body; } } for (int i = 0; i < 2; ++i) { Vec2[] vertices = new Vec2[3]; vertices[0] = new Vec2(-0.5f, 0.0f); vertices[1] = new Vec2(0.5f, 0.0f); vertices[2] = new Vec2(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.DYNAMIC; bd.position.set(-8.0f + 8.0f*i, 12.0f); Body body = getWorld().createBody(bd); body.createFixture(fd); } for (int i = 0; i < 2; ++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.DYNAMIC; bd.position.set(-6.0f + 6.0f*i, 10.0f); Body body = getWorld().createBody(bd); body.createFixture(fd); } }
public override void initTest(bool deserialized) { { BodyDef bd = new BodyDef(); Body ground = m_world.createBody(bd); { PolygonShape shape = new PolygonShape(); Vec2[] vertices = new Vec2[] {new Vec2(-40, -10), new Vec2(40, -10), new Vec2(40, 0), new Vec2(-40, 0)}; shape.set(vertices, 4); ground.createFixture(shape, 0.0f); } { PolygonShape shape = new PolygonShape(); Vec2[] vertices = new Vec2[] {new Vec2(-40, -1), new Vec2(-20, -1), new Vec2(-20, 20), new Vec2(-40, 30)}; shape.set(vertices, 4); ground.createFixture(shape, 0.0f); } { PolygonShape shape = new PolygonShape(); Vec2[] vertices = new Vec2[] {new Vec2(20, -1), new Vec2(40, -1), new Vec2(40, 30), new Vec2(20, 20)}; shape.set(vertices, 4); ground.createFixture(shape, 0.0f); } } m_world.setParticleRadius(0.2f); { PolygonShape shape = new PolygonShape(); shape.setAsBox(20, 10, new Vec2(0, 10), 0); ParticleGroupDef pd = new ParticleGroupDef(); pd.flags = flags; pd.shape = shape; m_world.createParticleGroup(pd); } { BodyDef bd = new BodyDef(); bd.type = BodyType.KINEMATIC; Body body = m_world.createBody(bd); circle = body; CircleShape shape = new CircleShape(); shape.m_p.set(0, 5); shape.m_radius = 1; body.createFixture(shape, 0.1f); body.setLinearVelocity(new Vec2(-6, 0.0f)); } { BodyDef bd = new BodyDef(); bd.type = BodyType.DYNAMIC; Body body = m_world.createBody(bd); PolygonShape shape = new PolygonShape(); shape.setAsBox(1, 1, new Vec2(-10, 5), 0); body.createFixture(shape, 0.1f); } { BodyDef bd = new BodyDef(); bd.type = BodyType.DYNAMIC; Body body = m_world.createBody(bd); PolygonShape shape = new PolygonShape(); shape.setAsBox(1, 1, new Vec2(10, 5), 0.5f); body.createFixture(shape, 0.1f); } { BodyDef bd = new BodyDef(); bd.type = BodyType.DYNAMIC; Body body = m_world.createBody(bd); EdgeShape shape = new EdgeShape(); shape.set(new Vec2(0, 20), new Vec2(1, 21)); body.createFixture(shape, 0.1f); } { BodyDef bd = new BodyDef(); bd.type = BodyType.DYNAMIC; Body body = m_world.createBody(bd); EdgeShape shape = new EdgeShape(); shape.set(new Vec2(3, 20), new Vec2(4, 21)); body.createFixture(shape, 0.1f); } { BodyDef bd = new BodyDef(); bd.type = BodyType.DYNAMIC; Body body = m_world.createBody(bd); EdgeShape shape = new EdgeShape(); shape.set(new Vec2(-3, 21), new Vec2(-2, 20)); body.createFixture(shape, 0.1f); } }
public override void initTest(bool argDeserialized) { // Ground body { BodyDef bd = new BodyDef(); Body ground = getWorld().createBody(bd); EdgeShape shape = new EdgeShape(); shape.set(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f)); ground.createFixture(shape, 0.0f); } // Breakable dynamic body { BodyDef bd = new BodyDef(); bd.type = BodyType.DYNAMIC; bd.position.set(0.0f, 40.0f); bd.angle = 0.25f*MathUtils.PI; m_body1 = getWorld().createBody(bd); m_shape1 = new PolygonShape(); m_shape1.setAsBox(0.5f, 0.5f, new Vec2(-0.5f, 0.0f), 0.0f); m_piece1 = m_body1.createFixture(m_shape1, 1.0f); m_shape2 = new PolygonShape(); m_shape2.setAsBox(0.5f, 0.5f, new Vec2(0.5f, 0.0f), 0.0f); m_piece2 = m_body1.createFixture(m_shape2, 1.0f); } m_break = false; m_broke = false; }
public override void initTest(bool deserialized) { if (deserialized) { return; } Body ground = null; { BodyDef bd = new BodyDef(); ground = getWorld().createBody(bd); EdgeShape shape = new EdgeShape(); shape.set(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f)); ground.createFixture(shape, 0.0f); } { CircleShape shape = new CircleShape(); shape.m_radius = 0.5f; BodyDef bd = new BodyDef(); bd.type = BodyType.DYNAMIC; RevoluteJointDef rjd = new RevoluteJointDef(); bd.position.set(-10f, 20.0f); Body body = getWorld().createBody(bd); body.createFixture(shape, 5.0f); 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*MathUtils.PI; rjd.maxMotorTorque = 10000.0f; rjd.enableMotor = false; rjd.lowerAngle = -0.25f*MathUtils.PI; rjd.upperAngle = 0.5f*MathUtils.PI; rjd.enableLimit = true; rjd.collideConnected = true; m_joint = (RevoluteJoint) getWorld().createJoint(rjd); } { CircleShape circle_shape = new CircleShape(); circle_shape.m_radius = 3.0f; BodyDef circle_bd = new BodyDef(); circle_bd.type = BodyType.DYNAMIC; circle_bd.position.set(5.0f, 30.0f); FixtureDef fd = new FixtureDef(); fd.density = 5.0f; fd.filter.maskBits = 1; fd.shape = circle_shape; Body ball = m_world.createBody(circle_bd); ball.createFixture(fd); PolygonShape polygon_shape = new PolygonShape(); polygon_shape.setAsBox(10.0f, 0.2f, new Vec2(-10.0f, 0.0f), 0.0f); BodyDef polygon_bd = new BodyDef(); polygon_bd.position.set(20.0f, 10.0f); polygon_bd.type = BodyType.DYNAMIC; polygon_bd.bullet = true; Body polygon_body = m_world.createBody(polygon_bd); polygon_body.createFixture(polygon_shape, 2.0f); RevoluteJointDef rjd = new RevoluteJointDef(); rjd.initialize(ground, polygon_body, new Vec2(20.0f, 10.0f)); rjd.lowerAngle = -0.25f*MathUtils.PI; rjd.upperAngle = 0.0f*MathUtils.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.DYNAMIC; Body body = m_world.createBody(bodyDef); PolygonShape polyShape = new PolygonShape(); Vec2[] verts = new Vec2[3]; verts[0] = new Vec2(17.63f, 36.31f); verts[1] = new Vec2(17.52f, 36.69f); verts[2] = new Vec2(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 } }