// Use this for initialization
protected override IntPtr Init()
{
FrictionJointDef jd = new FrictionJointDef(other.body, body.body);
jd.Initialize(other.body,body.body,anchor);
jd.maxForce = maxForce;
jd.maxTorque = maxTorque;
return API.CreateFrictionJoint( B2DWorld.instance.world, jd );
}
public static extern IntPtr CreateFrictionJoint( IntPtr w, FrictionJointDef def);
public static extern IntPtr CreateFrictionJoint(IntPtr w, FrictionJointDef def);
// Use this for initialization
protected override void Init()
{
API.SetGravity(world,Vector2.zero);
var ground = API.CreateBody(world, new Vector2(0,20), 0, BodyType.STATIC_BODY );
ShapeDef sp = new ShapeDef(0);
sp.restitution = 0.4f;
API.AddEdgeShape(ground, new Vector2(-20,-20), new Vector2(-20,20), sp);
API.AddEdgeShape(ground, new Vector2(20,-20), new Vector2(20,20), sp);
API.AddEdgeShape(ground, new Vector2(-20,20), new Vector2(20,20), sp);
API.AddEdgeShape(ground, new Vector2(-20,-20), new Vector2(20,-20), sp);
BodyDef bd = new BodyDef(BodyType.DYNAMIC_BODY);
bd.allowSleep = false;
bd.angle = 3.14159265359f;
bd.angularDamping = 5.0f;
bd.linearDamping = 0.1f;
bd.position = new Vector2(0,2);
m_body = API.CreateBody(world,bd);
sp.restitution = 0.0f;
sp.density = 4.0f;
b2Transform xf1 = new b2Transform();
xf1.q = new b2Rot(0.3524f * Mathf.PI);
xf1.p = xf1.q.GetXAxis();
Vector2[] vertices = new Vector2[3];
vertices[0] = b2Math.b2Mul(xf1, new Vector2(-1.0f, 0.0f));
vertices[1] = b2Math.b2Mul(xf1, new Vector2(1.0f, 0.0f));
vertices[2] = b2Math.b2Mul(xf1, new Vector2(0.0f, 0.5f));
API.AddPolygonShape(m_body, vertices, vertices.Length, sp);
sp.density = 2.0f;
xf1.q = new b2Rot(-0.3524f * Mathf.PI);
xf1.p = -xf1.q.GetXAxis();
vertices[0] = b2Math.b2Mul(xf1, new Vector2(-1.0f, 0.0f));
vertices[1] = b2Math.b2Mul(xf1, new Vector2(1.0f, 0.0f));
vertices[2] = b2Math.b2Mul(xf1, new Vector2(0.0f, 0.5f));
API.AddPolygonShape(m_body, vertices, vertices.Length, sp);
sp.density = 1.0f;
sp.friction = 0.3f;
float gravity = 10;
FrictionJointDef jd = new FrictionJointDef();
for(int i=0; i<10; ++i)
{
var b = API.CreateBody(world, new Vector2(0,5.0f+1.54f*i), 0, BodyType.DYNAMIC_BODY );
API.AddBoxShape(b, 0.5f, 0.5f, Vector2.zero, 0, sp);
float I = API.GetInertia(b);
float mass = API.GetMass(b);
float radius = Mathf.Sqrt(2.0f*I/mass);
jd.bodyA = ground;
jd.bodyB = b;
jd.collideConnected = true;
jd.maxForce = mass*gravity;
jd.maxTorque = mass*radius*gravity;
API.CreateFrictionJoint(world,jd);
}
}
