コード例 #1
0
ファイル: Gears.cs プロジェクト: Nomad1/sharpbox2d
        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);
            }
        }
コード例 #2
0
ファイル: PrismaticTest.cs プロジェクト: Nomad1/sharpbox2d
 public override void processJoint(Joint joint, long tag)
 {
     if (tag == JOINT_TAG)
     {
         m_joint = (PrismaticJoint) joint;
     }
     else
     {
         base.processJoint(joint, tag);
     }
 }
コード例 #3
0
ファイル: PrismaticTest.cs プロジェクト: Nomad1/sharpbox2d
        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);
            }
        }
コード例 #4
0
ファイル: SliderCrankTest.cs プロジェクト: Nomad1/sharpbox2d
        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(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
                ground.createFixture(shape, 0.0f);
            }

            {
                Body prevBody = ground;

                // Define crank.
                {
                    PolygonShape shape = new PolygonShape();
                    shape.setAsBox(0.5f, 2.0f);

                    BodyDef bd = new BodyDef();
                    bd.type = BodyType.DYNAMIC;
                    bd.position.set(0.0f, 7.0f);
                    Body body = getWorld().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*MathUtils.PI;
                    rjd.maxMotorTorque = 10000.0f;
                    rjd.enableMotor = true;
                    m_joint1 = (RevoluteJoint) getWorld().createJoint(rjd);

                    prevBody = body;
                }

                // Define follower.
                {
                    PolygonShape shape = new PolygonShape();
                    shape.setAsBox(0.5f, 4.0f);

                    BodyDef bd = new BodyDef();
                    bd.type = BodyType.DYNAMIC;
                    bd.position.set(0.0f, 13.0f);
                    Body body = getWorld().createBody(bd);
                    body.createFixture(shape, 2.0f);

                    RevoluteJointDef rjd = new RevoluteJointDef();
                    rjd.initialize(prevBody, body, new Vec2(0.0f, 9.0f));
                    rjd.enableMotor = false;
                    getWorld().createJoint(rjd);

                    prevBody = body;
                }

                // Define piston
                {
                    PolygonShape shape = new PolygonShape();
                    shape.setAsBox(1.5f, 1.5f);

                    BodyDef bd = new BodyDef();
                    bd.type = BodyType.DYNAMIC;
                    bd.fixedRotation = true;
                    bd.position.set(0.0f, 17.0f);
                    Body body = getWorld().createBody(bd);
                    body.createFixture(shape, 2.0f);

                    RevoluteJointDef rjd = new RevoluteJointDef();
                    rjd.initialize(prevBody, body, new Vec2(0.0f, 17.0f));
                    getWorld().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 = false;

                    m_joint2 = (PrismaticJoint) getWorld().createJoint(pjd);
                }

                // Create a payload
                {
                    PolygonShape shape = new PolygonShape();
                    shape.setAsBox(1.5f, 1.5f);

                    BodyDef bd = new BodyDef();
                    bd.type = BodyType.DYNAMIC;
                    bd.position.set(0.0f, 23.0f);
                    Body body = getWorld().createBody(bd);
                    body.createFixture(shape, 2.0f);
                }
            }
        }