Exemplo n.º 1
0
		public override void Keyboard()
		{
			if (KeyboardManager.IsPressed(Key.C)) {
				if (m_fixture2 == null) {
					CircleShape shape = new CircleShape();
					shape.m_radius = 3.0f;
					shape.m_p.Set(0.5f, -4.0f);
					shape.Density = 10;
					m_fixture2 = m_body.CreateFixture(shape);
					m_body.SetAwake(true);
				}
			}

			if (KeyboardManager.IsPressed(Key.D)){
				if (m_fixture2 != null)
				{
					m_body.DestroyFixture(m_fixture2);
					m_fixture2 = null;
					m_body.SetAwake(true);
				}
			}

			if (KeyboardManager.IsPressed(Key.S)){
				if (m_fixture2 != null)
				{
					m_sensor = !m_sensor;
					m_fixture2.IsSensor = m_sensor;
				}
			}
		}
Exemplo n.º 2
0
		/// Compute the collision manifold between two circles.
		public static void CollideCircles(out Manifold manifold,
							  CircleShape circleA, Transform xfA,
							  CircleShape circleB, Transform xfB) {
			throw new NotImplementedException();
			//manifold.pointCount = 0;

			//Vec2 pA = Utilities.Mul(xfA, circleA.m_p);
			//Vec2 pB = Utilities.Mul(xfB, circleB.m_p);

			//Vec2 d = pB - pA;
			//float distSqr = Utilities.Dot(d, d);
			//float rA = circleA.m_radius, rB = circleB.m_radius;
			//float radius = rA + rB;
			//if (distSqr > radius * radius)
			//{
			//    return;
			//}

			//manifold.type = Manifold::e_circles;
			//manifold.localPoint = circleA.m_p;
			//manifold.localNormal.SetZero();
			//manifold.pointCount = 1;

			//manifold.points[0].localPoint = circleB.m_p;
			//manifold.points[0].id.key = 0;
		}
Exemplo n.º 3
0
		public override void Keyboard()
		{
			if (KeyboardManager.IsPressed(Key.Comma)) {
				if (m_bullet != null)
				{
					m_world.DestroyBody(m_bullet);
					m_bullet = null;
				}

				{
					CircleShape shape = new CircleShape();
					shape.m_radius = 0.25f;

					FixtureDef fd = new FixtureDef();
					fd.shape = shape;
					fd.Density = 20.0f;
					fd.restitution = 0.05f;

					BodyDef bd = new BodyDef();
					bd.type = BodyType._dynamicBody;
					bd.bullet = true;
					bd.Position.Set(-31.0f, 5.0f);

					m_bullet = m_world.CreateBody(bd);
					m_bullet.CreateFixture(fd);

					m_bullet.SetLinearVelocity(new Vec2(400.0f, 0.0f));
				}
			}
		}
Exemplo n.º 4
0
		public SphereStack()
		{
			{
				BodyDef bd = new BodyDef();
				Body ground = m_world.CreateBody(bd);

				EdgeShape shape = new EdgeShape();
				shape.Set(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
				shape.Density = 0;
				ground.CreateFixture(shape);
			}

			{
				CircleShape shape = new CircleShape();
				shape.m_radius = 1.0f;

				for (int i = 0; i < e_count; ++i)
				{
					BodyDef bd = new BodyDef();
					bd.type = BodyType._dynamicBody;
					bd.Position.Set(0.0f, 4.0f + 3.0f * i);

					m_bodies[i] = m_world.CreateBody(bd);

					m_bodies[i].CreateFixture(shape);

					m_bodies[i].SetLinearVelocity(new Vec2(0.0f, -50.0f));
				}
			}
		}
Exemplo n.º 5
0
		public SensorTest()
		{
			{
				BodyDef bd = new BodyDef();
				Body ground = m_world.CreateBody(bd);

				{
					EdgeShape shape = new EdgeShape();
					shape.Set(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
					shape.Density = 0;
					ground.CreateFixture(shape);
				}

	#if ZERO
				{
					FixtureDef sd;
					sd.SetAsBox(10.0f, 2.0f, new Vec2(0.0f, 20.0f), 0.0f);
					sd.IsSensor = true;
					m_sensor = ground.CreateFixture(sd);
				}
	#else
				{
					CircleShape shape = new CircleShape();
					shape.m_radius = 5.0f;
					shape.m_p.Set(0.0f, 10.0f);

					FixtureDef fd = new FixtureDef();
					fd.shape = shape;
					fd.IsSensor = true;
					m_sensor = ground.CreateFixture(fd);
				}
	#endif
			}

			{
				CircleShape shape = new CircleShape();
				shape.m_radius = 1.0f;

				for (int i = 0; i < e_count; ++i)
				{
					BodyDef bd = new BodyDef();
					bd.type = BodyType._dynamicBody;
					bd.Position.Set(-10.0f + 3.0f * i, 20.0f);
					bd.UserData = m_touching[i];

					m_touching[i] = false;
					m_bodies[i] = m_world.CreateBody(bd);

					m_bodies[i].CreateFixture(shape);
				}
			}
		}
Exemplo n.º 6
0
		public Confined()
		{
			{
				BodyDef bd = new BodyDef();
				Body ground = m_world.CreateBody(bd);

				EdgeShape shape2 = new EdgeShape();

				// Floor
				shape2.Set(new Vec2(-10.0f, 0.0f), new Vec2(10.0f, 0.0f));
				shape2.Density = 0;
				ground.CreateFixture(shape2);

				// Left wall
				shape2.Set(new Vec2(-10.0f, 0.0f), new Vec2(-10.0f, 20.0f));
				ground.CreateFixture(shape2);

				// Right wall
				shape2.Set(new Vec2(10.0f, 0.0f), new Vec2(10.0f, 20.0f));
				ground.CreateFixture(shape2);

				// Roof
				shape2.Set(new Vec2(-10.0f, 20.0f), new Vec2(10.0f, 20.0f));
				ground.CreateFixture(shape2);
			}

			float radius = 0.5f;
			CircleShape shape = new CircleShape();
			shape.m_p.SetZero();
			shape.m_radius = radius;

			FixtureDef fd = new FixtureDef();
			fd.shape = shape;
			fd.Density = 1.0f;
			fd.friction = 0.1f;

			for (int j = 0; j < e_columnCount; ++j)
			{
				for (int i = 0; i < e_rowCount; ++i)
				{
					BodyDef bd = new BodyDef();
					bd.type = BodyType._dynamicBody;
					bd.Position.Set(-10.0f + (2.1f * j + 1.0f + 0.01f * i) * radius, (2.0f * i + 1.0f) * radius);
					Body body = m_world.CreateBody(bd);

					body.CreateFixture(fd);
				}
			}

			m_world.SetGravity(new Vec2(0.0f, 0.0f));
		}
Exemplo n.º 7
0
		public OneSidedPlatform()
		{
			// Ground
			{
				BodyDef bd = new BodyDef();
				Body ground = m_world.CreateBody(bd);

				EdgeShape shape = new EdgeShape();
				shape.Set(new Vec2(-20.0f, 0.0f), new Vec2(20.0f, 0.0f));
				shape.Density = 0;
				ground.CreateFixture(shape);
			}

			// Platform
			{
				BodyDef bd = new BodyDef();
				bd.Position.Set(0.0f, 10.0f);
				Body body = m_world.CreateBody(bd);

				PolygonShape shape = new PolygonShape();
				shape.SetAsBox(3.0f, 0.5f);
				shape.Density = 0;
				m_platform = body.CreateFixture(shape);

				m_bottom = 10.0f - 0.5f;
				m_top = 10.0f + 0.5f;
			}

			// Actor
			{
				BodyDef bd = new BodyDef();
				bd.type = BodyType._dynamicBody;
				bd.Position.Set(0.0f, 12.0f);
				Body body = m_world.CreateBody(bd);

				m_radius = 0.5f;
				CircleShape shape = new CircleShape();
				shape.m_radius = m_radius;
				shape.Density = 20;
				m_character = body.CreateFixture(shape);

				body.SetLinearVelocity(new Vec2(0.0f, -50.0f));

				m_state = State.e_unknown;
			}
		}
Exemplo n.º 8
0
		void CreateCircle()
		{
			float radius = 2.0f;
			CircleShape shape = new CircleShape();
			shape.m_p.SetZero();
			shape.m_radius = radius;

			FixtureDef fd = new FixtureDef();
			fd.shape = shape;
			fd.Density = 1.0f;
			fd.friction = 0.0f;

			Vec2 p = new Vec2(RandomFloat(), 3.0f + RandomFloat());
			BodyDef bd = new BodyDef();
			bd.type = BodyType._dynamicBody;
			bd.Position = p;
			//bd.allowSleep = false;
			Body body = m_world.CreateBody(bd);

			body.CreateFixture(fd);
		}
Exemplo n.º 9
0
		public VaryingRestitution()
		{
			{
				BodyDef bd = new BodyDef();
				Body ground = m_world.CreateBody(bd);

				EdgeShape shape = new EdgeShape();
				shape.Set(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
				shape.Density = 0;
				ground.CreateFixture(shape);
				
			}

			{
				CircleShape shape = new CircleShape();
				shape.m_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.type = BodyType._dynamicBody;
					bd.Position.Set(-10.0f + 3.0f * i, 20.0f);

					Body body = m_world.CreateBody(bd);

					fd.restitution = restitution[i];
					body.CreateFixture(fd);
				}
			}
		}
Exemplo n.º 10
0
		public AddPair()
		{
			m_world.SetGravity(new Vec2(0.0f,0.0f));
			{
				CircleShape shape = new CircleShape();
				shape.m_p.SetZero();
				shape.m_radius = 0.1f;

				float minX = -6.0f;
				float maxX = 0.0f;
				float minY = 4.0f;
				float maxY = 6.0f;
			
				for (int i = 0; i < 400; ++i)
				{
					BodyDef bd = new BodyDef();
					bd.type = BodyType._dynamicBody;
					bd.Position = new Vec2(RandomFloat(minX,maxX),RandomFloat(minY,maxY));
					Body body = m_world.CreateBody(bd);
					shape.Density = 0.01f;
					body.CreateFixture(shape);
				}
			}
		
			{
				PolygonShape shape = new PolygonShape();
				shape.SetAsBox(1.5f, 1.5f);
				BodyDef bd = new BodyDef();
				bd.type = BodyType._dynamicBody;
				bd.Position.Set(-40.0f,5.0f);
				bd.bullet = true;
				Body body = m_world.CreateBody(bd);
				body.CreateFixture(shape);
				body.SetLinearVelocity(new Vec2(150.0f, 0.0f));
			}
		}
Exemplo n.º 11
0
		public CharacterCollision()
		{
			// Ground body
			{
				BodyDef bd = new BodyDef();
				Body ground = m_world.CreateBody(bd);

				EdgeShape shape = new EdgeShape();
				shape.Set(new Vec2(-20.0f, 0.0f), new Vec2(20.0f, 0.0f));
				shape.Density = 0;
				ground.CreateFixture(shape);
			}

			// Collinear edges with no adjacency information.
			// This shows the problematic case where a box shape can hit
			// an internal vertex.
			{
				BodyDef bd = new BodyDef();
				Body ground = m_world.CreateBody(bd);

				EdgeShape shape = new EdgeShape();
				shape.Density = 0;
				shape.Set(new Vec2(-8.0f, 1.0f), new Vec2(-6.0f, 1.0f));
				ground.CreateFixture(shape);
				shape.Set(new Vec2(-6.0f, 1.0f), new Vec2(-4.0f, 1.0f));
				ground.CreateFixture(shape);
				shape.Set(new Vec2(-4.0f, 1.0f), new Vec2(-2.0f, 1.0f));
				ground.CreateFixture(shape);
			}

			// Chain shape
			{
				BodyDef bd = new BodyDef();
				bd.angle = 0.25f * (float)Math.PI;
				Body ground = m_world.CreateBody(bd);

				Vec2[] vs = new Vec2[4];
				vs[0].Set(5.0f, 7.0f);
				vs[1].Set(6.0f, 8.0f);
				vs[2].Set(7.0f, 8.0f);
				vs[3].Set(8.0f, 7.0f);
				ChainShape shape = new ChainShape();
				shape.CreateChain(vs, 4);
				shape.Density = 0;
				ground.CreateFixture(shape);
			}

			// 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 = m_world.CreateBody(bd);

				PolygonShape shape = new PolygonShape();
				shape.Density = 0;

				shape.SetAsBox(1.0f, 1.0f, new Vec2(4.0f, 3.0f), 0.0f);
				ground.CreateFixture(shape);
				shape.SetAsBox(1.0f, 1.0f, new Vec2(6.0f, 3.0f), 0.0f);
				ground.CreateFixture(shape);
				shape.SetAsBox(1.0f, 1.0f, new Vec2(8.0f, 3.0f), 0.0f);
				ground.CreateFixture(shape);
			}

			// 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].Set(-1.0f, 3.0f);
				vs[1].Set(1.0f, 3.0f);
				vs[2].Set(1.0f, 5.0f);
				vs[3].Set(-1.0f, 5.0f);
				ChainShape shape = new ChainShape();
				shape.CreateLoop(vs, 4);
				shape.Density = 0;
				ground.CreateFixture(shape);
			}

			// Edge loop. Collision should be smooth.
			{
				BodyDef bd = new BodyDef();
				bd.Position.Set(-10.0f, 4.0f);
				Body ground = m_world.CreateBody(bd);

				Vec2[] vs = new Vec2[10];
				vs[0].Set(0.0f, 0.0f);
				vs[1].Set(6.0f, 0.0f);
				vs[2].Set(6.0f, 2.0f);
				vs[3].Set(4.0f, 1.0f);
				vs[4].Set(2.0f, 2.0f);
				vs[5].Set(0.0f, 2.0f);
				vs[6].Set(-2.0f, 2.0f);
				vs[7].Set(-4.0f, 3.0f);
				vs[8].Set(-6.0f, 2.0f);
				vs[9].Set(-6.0f, 0.0f);
				ChainShape shape = new ChainShape();
				shape.CreateLoop(vs, 10);
				shape.Density = 0;
				ground.CreateFixture(shape);
			}

			// Square character 1
			{
				BodyDef bd = new BodyDef();
				bd.Position.Set(-3.0f, 8.0f);
				bd.type = BodyType._dynamicBody;
				bd.fixedRotation = true;
				bd.allowSleep = false;

				Body body = m_world.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._dynamicBody;
				bd.fixedRotation = true;
				bd.allowSleep = false;

				Body body = m_world.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._dynamicBody;
				bd.fixedRotation = true;
				bd.allowSleep = false;

				Body body = m_world.CreateBody(bd);

				float angle = 0.0f;
				float delta = (float)Math.PI / 3.0f;
				Vec2[] vertices = new Vec2[6];
				for (int i = 0; i < 6; ++i)
				{
					vertices[i].Set(0.5f * (float)Math.Cos(angle), 0.5f * (float)Math.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._dynamicBody;
				bd.fixedRotation = true;
				bd.allowSleep = false;

				Body body = m_world.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._dynamicBody;
				bd.allowSleep = false;

				m_character = m_world.CreateBody(bd);

				CircleShape shape = new CircleShape();
				shape.m_radius = 0.25f;

				FixtureDef fd = new FixtureDef();
				fd.shape = shape;
				fd.Density = 20.0f;
				fd.friction = 1.0f;
				m_character.CreateFixture(fd);
			}
		}
Exemplo n.º 12
0
		Bridge()
		{
			Body ground = null;
			{
				BodyDef bd = new BodyDef();
				ground = m_world.CreateBody(bd);

				EdgeShape shape = new EdgeShape();
				shape.Set(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
				shape.Density = 0;
				ground.CreateFixture(shape);
			}

			{
				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();

				Body prevBody = ground;
				for (int i = 0; i < e_count; ++i)
				{
					BodyDef bd = new BodyDef();
					bd.type = BodyType._dynamicBody;
					bd.Position.Set(-14.5f + 1.0f * i, 5.0f);
					Body body = m_world.CreateBody(bd);
					body.CreateFixture(fd);

					Vec2 anchor = new Vec2(-15.0f + 1.0f * i, 5.0f);
					jd.Initialize(prevBody, body, anchor);
					m_world.CreateJoint(jd);

					if (i == (e_count >> 1))
					{
						m_middle = body;
					}
					prevBody = body;
				}

				Vec2 anchor2 = new Vec2(-15.0f + 1.0f * e_count, 5.0f);
				jd.Initialize(prevBody, ground, anchor2);
				m_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.type = BodyType._dynamicBody;
				bd.Position.Set(-8.0f + 8.0f * i, 12.0f);
				Body body = m_world.CreateBody(bd);
				body.CreateFixture(fd);
			}

			for (int i = 0; i < 3; ++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._dynamicBody;
				bd.Position.Set(-6.0f + 6.0f * i, 10.0f);
				Body body = m_world.CreateBody(bd);
				body.CreateFixture(fd);
			}
		}
Exemplo n.º 13
0
		public EdgeTest()
		{
			{
				BodyDef bd = new BodyDef();
				Body ground = m_world.CreateBody(bd);

				Vec2 v1 = new Vec2(-10.0f, 0.0f), v2 = new Vec2(-7.0f, -2.0f), v3 = new Vec2(-4.0f, 0.0f);
				Vec2 v4 = new Vec2(0.0f, 0.0f), v5 = new Vec2(4.0f, 0.0f), v6 = new Vec2(7.0f, 2.0f), v7 = new Vec2(10.0f, 0.0f);

				EdgeShape shape = new EdgeShape();

				shape.Set(v1, v2);
				shape.m_hasVertex3 = true;
				shape.m_vertex3 = v3;
				shape.Density = 0;
				ground.CreateFixture(shape);

				shape.Set(v2, v3);
				shape.m_hasVertex0 = true;
				shape.m_hasVertex3 = true;
				shape.m_vertex0 = v1;
				shape.m_vertex3 = v4;
				ground.CreateFixture(shape);

				shape.Set(v3, v4);
				shape.m_hasVertex0 = true;
				shape.m_hasVertex3 = true;
				shape.m_vertex0 = v2;
				shape.m_vertex3 = v5;
				ground.CreateFixture(shape);

				shape.Set(v4, v5);
				shape.m_hasVertex0 = true;
				shape.m_hasVertex3 = true;
				shape.m_vertex0 = v3;
				shape.m_vertex3 = v6;
				ground.CreateFixture(shape);

				shape.Set(v5, v6);
				shape.m_hasVertex0 = true;
				shape.m_hasVertex3 = true;
				shape.m_vertex0 = v4;
				shape.m_vertex3 = v7;
				ground.CreateFixture(shape);

				shape.Set(v6, v7);
				shape.m_hasVertex0 = true;
				shape.m_vertex0 = v5;
				ground.CreateFixture(shape);
			}

			{
				BodyDef bd = new BodyDef();
				bd.type = BodyType._dynamicBody;
				bd.Position.Set(-0.5f, 0.6f);
				bd.allowSleep = false;
				Body body = m_world.CreateBody(bd);

				CircleShape shape = new CircleShape();
				shape.m_radius = 0.5f;

				body.CreateFixture(shape);
			}

			{
				BodyDef bd = new BodyDef();
				bd.type = BodyType._dynamicBody;
				bd.Position.Set(1.0f, 0.6f);
				bd.allowSleep = false;
				Body body = m_world.CreateBody(bd);

				PolygonShape shape = new PolygonShape();
				shape.SetAsBox(0.5f, 0.5f);

				body.CreateFixture(shape);
			}
		}
Exemplo n.º 14
0
		/// Compute the collision manifold between a polygon and a circle.
		public static void CollidePolygonAndCircle(out Manifold manifold,
									   PolygonShape polygonA, Transform xfA,
									   CircleShape circleB, Transform xfB) {
			manifold = new Manifold();
			manifold.points.Clear();

			// Compute circle position in the frame of the polygon.
			Vec2 c = Utilities.Mul(xfB, circleB.m_p);
			Vec2 cLocal = Utilities.MulT(xfA, c);

			// Find the min separating edge.
			int normalIndex = 0;
			float separation = -Single.MaxValue;
			float radius = polygonA.m_radius + circleB.m_radius;
			int vertexCount = polygonA.m_count;
			List<Vec2> vertices = new List<Vec2>(polygonA.m_vertices);
			List<Vec2> normals = new List<Vec2>(polygonA.m_normals);

			for (int i = 0; i < vertexCount; ++i)
			{
			    float s = Utilities.Dot(normals[i], cLocal - vertices[i]);

			    if (s > radius)
			    {
			        // Early out.
			        return;
			    }

			    if (s > separation)
			    {
			        separation = s;
			        normalIndex = i;
			    }
			}

			// Vertices that subtend the incident face.
			int vertIndex1 = normalIndex;
			int vertIndex2 = vertIndex1 + 1 < vertexCount ? vertIndex1 + 1 : 0;
			Vec2 v1 = vertices[vertIndex1];
			Vec2 v2 = vertices[vertIndex2];

			// If the center is inside the polygon ...
			if (separation < Single.Epsilon)
			{
				manifold.points.Clear();
				manifold.points.Add(new ManifoldPoint());
			    manifold.type = Manifold.ManifoldType.e_faceA;
			    manifold.localNormal = normals[normalIndex];
			    manifold.localPoint = 0.5f * (v1 + v2);
			    manifold.points[0].localPoint = circleB.m_p;
			    manifold.points[0].id.key = 0;
			    return;
			}

			// Compute barycentric coordinates
			float u1 = Utilities.Dot(cLocal - v1, v2 - v1);
			float u2 = Utilities.Dot(cLocal - v2, v1 - v2);
			if (u1 <= 0.0f)
			{
			    if (Utilities.DistanceSquared(cLocal, v1) > radius * radius)
			    {
			        return;
			    }

				manifold.points.Clear();
				manifold.points.Add(new ManifoldPoint());
			    manifold.type = Manifold.ManifoldType.e_faceA;
			    manifold.localNormal = cLocal - v1;
			    manifold.localNormal.Normalize();
			    manifold.localPoint = v1;
			    manifold.points[0].localPoint = circleB.m_p;
			    manifold.points[0].id.key = 0;
			}
			else if (u2 <= 0.0f)
			{
				if (Utilities.DistanceSquared(cLocal, v2) > radius * radius)
			    {
			        return;
			    }

				manifold.points = new List<ManifoldPoint>();
				manifold.points.Add(new ManifoldPoint());
			    manifold.type = Manifold.ManifoldType.e_faceA;
			    manifold.localNormal = cLocal - v2;
			    manifold.localNormal.Normalize();
			    manifold.localPoint = v2;
			    manifold.points[0].localPoint = circleB.m_p;
			    manifold.points[0].id.key = 0;
			}
			else
			{
			    Vec2 faceCenter = 0.5f * (v1 + v2);
			    float separation2 = Utilities.Dot(cLocal - faceCenter, normals[vertIndex1]);
			    if (separation2 > radius)
			    {
			        return;
			    }

				manifold.points = new List<ManifoldPoint>();
				manifold.points.Add(new ManifoldPoint());
			    manifold.type = Manifold.ManifoldType.e_faceA;
			    manifold.localNormal = normals[vertIndex1];
			    manifold.localPoint = faceCenter;
			    manifold.points[0].localPoint = circleB.m_p;
			    manifold.points[0].id.key = 0;
			}
		}
Exemplo n.º 15
0
		/// Compute the collision manifold between an edge and a circle.
		public static void CollideEdgeAndCircle(out Manifold manifold,
									   EdgeShape edgeA, Transform xfA,
									   CircleShape circleB, Transform xfB){
			manifold = new Manifold();
	
			// Compute circle in frame of edge
			Vec2 Q = Utilities.MulT(xfA, Utilities.Mul(xfB, circleB.m_p));
	
			Vec2 A = edgeA.m_vertex1, B = edgeA.m_vertex2;
			Vec2 e = B - A;
	
			// Barycentric coordinates
			float u = Utilities.Dot(e, B - Q);
			float v = Utilities.Dot(e, Q - A);
	
			float radius = edgeA.m_radius + circleB.m_radius;
	
			ContactFeature cf;
			cf.indexB = 0;
			cf.typeB = ContactFeature.FeatureType.e_vertex;
	
			// Region A
			if (v <= 0.0f)
			{
				Vec2 P = A;
				Vec2 d = Q - P;
				float dd = Utilities.Dot(d, d);
				if (dd > radius * radius)
				{
					return;
				}
		
				// Is there an edge connected to A?
				if (edgeA.m_hasVertex0)
				{
					Vec2 A1 = edgeA.m_vertex0;
					Vec2 B1 = A;
					Vec2 e1 = B1 - A1;
					float u1 = Utilities.Dot(e1, B1 - Q);
			
					// Is the circle in Region AB of the previous edge?
					if (u1 > 0.0f)
					{
						return;
					}
				}
		
				cf.indexA = 0;
				cf.typeA = ContactFeature.FeatureType.e_vertex;
				manifold.points.Clear();
				manifold.points.Add(new ManifoldPoint());
				manifold.type = Manifold.ManifoldType.e_circles;
				manifold.localNormal.SetZero();
				manifold.localPoint = P;
				manifold.points[0].id.key = 0;
				manifold.points[0].id.cf = cf;
				manifold.points[0].localPoint = circleB.m_p;
				return;
			}
	
			// Region B
			if (u <= 0.0f)
			{
				Vec2 P = B;
				Vec2 d = Q - P;
				float dd = Utilities.Dot(d, d);
				if (dd > radius * radius)
				{
					return;
				}
		
				// Is there an edge connected to B?
				if (edgeA.m_hasVertex3)
				{
					Vec2 B2 = edgeA.m_vertex3;
					Vec2 A2 = B;
					Vec2 e2 = B2 - A2;
					float v2 = Utilities.Dot(e2, Q - A2);
			
					// Is the circle in Region AB of the next edge?
					if (v2 > 0.0f)
					{
						return;
					}
				}
		
				cf.indexA = 1;
				cf.typeA = ContactFeature.FeatureType.e_vertex;
				manifold.points.Clear();
				manifold.points.Add(new ManifoldPoint());
				manifold.type = Manifold.ManifoldType.e_circles;
				manifold.localNormal.SetZero();
				manifold.localPoint = P;
				manifold.points[0].id.key = 0;
				manifold.points[0].id.cf = cf;
				manifold.points[0].localPoint = circleB.m_p;
				return;
			}
	
			// Region AB
			float den = Utilities.Dot(e, e);
			Utilities.Assert(den > 0.0f);
			Vec2 Pb = (1.0f / den) * (u * A + v * B);
			Vec2 db = Q - Pb;
			float ddb = Utilities.Dot(db, db);
			if (ddb > radius * radius)
			{
				return;
			}
	
			Vec2 n = new Vec2(-e.Y, e.X);
			if (Utilities.Dot(n, Q - A) < 0.0f)
			{
				n.Set(-n.X, -n.Y);
			}
			n.Normalize();
	
			cf.indexA = 0;
			cf.typeA = ContactFeature.FeatureType.e_face;
			manifold.points.Clear();
			manifold.points.Add(new ManifoldPoint());
			manifold.type = Manifold.ManifoldType.e_faceA;
			manifold.localNormal = n;
			manifold.localPoint = A;
			manifold.points[0].id.key = 0;
			manifold.points[0].id.cf = cf;
			manifold.points[0].localPoint = circleB.m_p;
		}
Exemplo n.º 16
0
		public CollisionProcessing()
		{
			// 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 = m_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.type = BodyType._dynamicBody;
			triangleBodyDef.Position.Set(RandomFloat(xLo, xHi), RandomFloat(yLo, yHi));

			Body body1 = m_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(RandomFloat(xLo, xHi), RandomFloat(yLo, yHi));

			Body body2 = m_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.type = BodyType._dynamicBody;
			boxBodyDef.Position.Set(RandomFloat(xLo, xHi), RandomFloat(yLo, yHi));

			Body body3 = m_world.CreateBody(boxBodyDef);
			body3.CreateFixture(boxShapeDef);

			// Large box (recycle definitions)
			polygon.SetAsBox(2.0f, 1.0f);
			boxBodyDef.Position.Set(RandomFloat(xLo, xHi), RandomFloat(yLo, yHi));
		
			Body body4 = m_world.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._dynamicBody;
			circleBodyDef.Position.Set(RandomFloat(xLo, xHi), RandomFloat(yLo, yHi));

			Body body5 = m_world.CreateBody(circleBodyDef);
			body5.CreateFixture(circleShapeDef);

			// Large circle
			circle.m_radius *= 2.0f;
			circleBodyDef.Position.Set(RandomFloat(xLo, xHi), RandomFloat(yLo, yHi));

			Body body6 = m_world.CreateBody(circleBodyDef);
			body6.CreateFixture(circleShapeDef);
		}
Exemplo n.º 17
0
		public TheoJansen()
		{
			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 = m_world.CreateBody(bd);

				EdgeShape shape = new EdgeShape();
				shape.Density = 0;
				shape.Set(new Vec2(-50.0f, 0.0f), new Vec2(50.0f, 0.0f));
				ground.CreateFixture(shape);

				shape.Set(new Vec2(-50.0f, 0.0f), new Vec2(-50.0f, 10.0f));
				ground.CreateFixture(shape);

				shape.Set(new Vec2(50.0f, 0.0f), new Vec2(50.0f, 10.0f));
				ground.CreateFixture(shape);
			}

			// Balls
			for (int i = 0; i < 40; ++i)
			{
				CircleShape shape = new CircleShape();
				shape.m_radius = 0.25f;

				BodyDef bd = new BodyDef();
				bd.type = BodyType._dynamicBody;
				bd.Position.Set(-40.0f + 2.0f * i, 0.5f);

				Body body = m_world.CreateBody(bd);
				body.CreateFixture(shape);
			}

			// 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._dynamicBody;
				bd.Position = pivot + m_offset;
				m_chassis = m_world.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._dynamicBody;
				bd.Position = pivot + m_offset;
				m_wheel = m_world.CreateBody(bd);
				m_wheel.CreateFixture(sd);
			}

			{
				RevoluteJointDef jd = new RevoluteJointDef();
				jd.Initialize(m_wheel, m_chassis, pivot + m_offset);
				jd.collideConnected = false;
				jd.motorSpeed = m_motorSpeed;
				jd.maxMotorTorque = 400.0f;
				jd.enableMotor = m_motorOn;
				m_motorJoint = (RevoluteJoint)m_world.CreateJoint(jd);
			}

			Vec2 wheelAnchor;
		
			wheelAnchor = pivot + new Vec2(0.0f, -0.8f);

			CreateLeg(-1.0f, wheelAnchor);
			CreateLeg(1.0f, wheelAnchor);

			m_wheel.SetTransform(m_wheel.GetPosition(), 120.0f * (float)Math.PI / 180.0f);
			CreateLeg(-1.0f, wheelAnchor);
			CreateLeg(1.0f, wheelAnchor);

			m_wheel.SetTransform(m_wheel.GetPosition(), -120.0f * (float)Math.PI / 180.0f);
			CreateLeg(-1.0f, wheelAnchor);
			CreateLeg(1.0f, wheelAnchor);
		}
Exemplo n.º 18
0
		public Dominos()
		{
			Body b1;
			{
				EdgeShape shape = new EdgeShape();
				shape.Set(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
				shape.Density = 0;

				BodyDef bd = new BodyDef();
				b1 = m_world.CreateBody(bd);
				b1.CreateFixture(shape);
			}

			{
				PolygonShape shape = new PolygonShape();
				shape.SetAsBox(6.0f, 0.25f);

				BodyDef bd = new BodyDef();
				bd.Position.Set(-1.5f, 10.0f);
				Body ground = m_world.CreateBody(bd);
				shape.Density = 0;
				ground.CreateFixture(shape);
			}

			{
				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.type = BodyType._dynamicBody;
					bd.Position.Set(-6.0f + 1.0f * i, 11.25f);
					Body body = m_world.CreateBody(bd);
					body.CreateFixture(fd);
				}
			}

			{
				PolygonShape shape = new PolygonShape();
				shape.SetAsBox(7.0f, 0.25f, new Vec2(0, 0), 0.3f);
				shape.Density = 0;

				BodyDef bd = new BodyDef();
				bd.Position.Set(1.0f, 6.0f);
				Body ground = m_world.CreateBody(bd);
				ground.CreateFixture(shape);
			}

			Body b2;
			{
				PolygonShape shape = new PolygonShape();
				shape.SetAsBox(0.25f, 1.5f);
				shape.Density = 0;

				BodyDef bd = new BodyDef();
				bd.Position.Set(-7.0f, 4.0f);
				b2 = m_world.CreateBody(bd);
				b2.CreateFixture(shape);
			}

			Body b3;
			{
				PolygonShape shape = new PolygonShape();
				shape.SetAsBox(6.0f, 0.125f);
				shape.Density = 10;

				BodyDef bd = new BodyDef();
				bd.type = BodyType._dynamicBody;
				bd.Position.Set(-0.9f, 1.0f);
				bd.angle = -0.15f;

				b3 = m_world.CreateBody(bd);
				b3.CreateFixture(shape);
			}

			RevoluteJointDef jd = new RevoluteJointDef();
			Vec2 anchor = new Vec2();

			anchor.Set(-2.0f, 1.0f);
			jd.Initialize(b1, b3, anchor);
			jd.collideConnected = true;
			m_world.CreateJoint(jd);

			Body b4;
			{
				PolygonShape shape = new PolygonShape();
				shape.SetAsBox(0.25f, 0.25f);

				BodyDef bd = new BodyDef();
				bd.type = BodyType._dynamicBody;
				bd.Position.Set(-10.0f, 15.0f);
				b4 = m_world.CreateBody(bd);
				shape.Density = 10;
				shape.Density = 10;
				b4.CreateFixture(shape);
			}

			anchor.Set(-7.0f, 15.0f);
			jd.Initialize(b2, b4, anchor);
			m_world.CreateJoint(jd);

			Body b5;
			{
				BodyDef bd = new BodyDef();
				bd.type = BodyType._dynamicBody;
				bd.Position.Set(6.5f, 3.0f);
				b5 = m_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);
			m_world.CreateJoint(jd);

			Body b6;
			{
				PolygonShape shape = new PolygonShape();
				shape.SetAsBox(1.0f, 0.1f);

				BodyDef bd = new BodyDef();
				bd.type = BodyType._dynamicBody;
				bd.Position.Set(6.5f, 4.1f);
				b6 = m_world.CreateBody(bd);
				shape.Density = 30;
				b6.CreateFixture(shape);
			}

			anchor.Set(7.5f, 4.0f);
			jd.Initialize(b5, b6, anchor);
			m_world.CreateJoint(jd);

			Body b7;
			{
				PolygonShape shape = new PolygonShape();
				shape.SetAsBox(0.1f, 1.0f);

				BodyDef bd = new BodyDef();
				bd.type = BodyType._dynamicBody;
				bd.Position.Set(7.4f, 1.0f);

				b7 = m_world.CreateBody(bd);
				shape.Density = 10;
				b7.CreateFixture(shape);
			}

			DistanceJointDef djd = new DistanceJointDef();
			djd.bodyA = b3;
			djd.bodyB = b7;
			djd.localAnchorA.Set(6.0f, 0.0f);
			djd.localAnchorB.Set(0.0f, -1.0f);
			Vec2 d = djd.bodyB.GetWorldPoint(djd.localAnchorB) - djd.bodyA.GetWorldPoint(djd.localAnchorA);
			djd.length = d.Length();
			m_world.CreateJoint(djd);

			{
				float radius = 0.2f;

				CircleShape shape = new CircleShape();
				shape.m_radius = radius;

				for (int i = 0; i < 4; ++i)
				{
					BodyDef bd = new BodyDef();
					bd.type = BodyType._dynamicBody;
					bd.Position.Set(5.9f + 2.0f * radius * i, 2.4f);
					Body body = m_world.CreateBody(bd);
					shape.Density = 10;
					body.CreateFixture(shape);
				}
			}
		}
Exemplo n.º 19
0
		public CollisionFiltering()
		{
			// 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 = m_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.type = BodyType._dynamicBody;
			triangleBodyDef.Position.Set(-5.0f, 2.0f);

			Body body1 = m_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 = m_world.CreateBody(triangleBodyDef);
			body2.CreateFixture(triangleShapeDef);

			{
				BodyDef bd = new BodyDef();
				bd.type = BodyType._dynamicBody;
				bd.Position.Set(-5.0f, 10.0f);
				Body body = m_world.CreateBody(bd);

				PolygonShape p = new PolygonShape();
				p.SetAsBox(0.5f, 1.0f);
				body.CreateFixture(p);

				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;

				m_world.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._dynamicBody;
			boxBodyDef.Position.Set(0.0f, 2.0f);

			Body body3 = m_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 = m_world.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._dynamicBody;
			circleBodyDef.Position.Set(5.0f, 2.0f);
		
			Body body5 = m_world.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 = m_world.CreateBody(circleBodyDef);
			body6.CreateFixture(circleShapeDef);
		}
Exemplo n.º 20
0
		public CompoundShapes()
		{
			{
				BodyDef bd = new BodyDef();
				bd.Position.Set(0.0f, 0.0f);
				Body body = m_world.CreateBody(bd);

				EdgeShape shape = new EdgeShape();
				shape.Set(new Vec2(50.0f, 0.0f), new Vec2(-50.0f, 0.0f));
				shape.Density = 0;
				body.CreateFixture(shape);
			}

			{
				CircleShape circle1 = new CircleShape();
				circle1.m_radius = 0.5f;
				circle1.m_p.Set(-0.5f, 0.5f);
				circle1.Density = 2;

				CircleShape circle2 = new CircleShape();
				circle2.m_radius = 0.5f;
				circle2.m_p.Set(0.5f, 0.5f);
				circle2.Density = 0;

				for (int i = 0; i < 10; ++i)
				{
					float x = RandomFloat(-0.1f, 0.1f);
					BodyDef bd = new BodyDef();
					bd.type = BodyType._dynamicBody;
					bd.Position.Set(x + 5.0f, 1.05f + 2.5f * i);
					bd.angle = RandomFloat(-(float)Math.PI, (float)Math.PI);
					Body body = m_world.CreateBody(bd);
					body.CreateFixture(circle1);
					body.CreateFixture(circle2);
				}
			}

			{
				PolygonShape polygon1 = new PolygonShape();
				polygon1.SetAsBox(0.25f, 0.5f);
				polygon1.Density = 2;

				PolygonShape polygon2 = new PolygonShape();
				polygon2.SetAsBox(0.25f, 0.5f, new Vec2(0.0f, -0.5f), 0.5f * (float)Math.PI);
				polygon2.Density = 2;

				for (int i = 0; i < 10; ++i)
				{
					float x = RandomFloat(-0.1f, 0.1f);
					BodyDef bd = new BodyDef();
					bd.type = BodyType._dynamicBody;
					bd.Position.Set(x - 5.0f, 1.05f + 2.5f * i);
					bd.angle = RandomFloat(-(float)Math.PI, (float)Math.PI);
					Body body = m_world.CreateBody(bd);
					body.CreateFixture(polygon1);
					body.CreateFixture(polygon2);
				}
			}

			{
				Transform xf1 = new Transform();
				xf1.q.Set(0.3524f * (float)Math.PI);
				xf1.p = xf1.q.GetXAxis();

				Vec2[] vertices = new Vec2[3];

				PolygonShape triangle1 = new PolygonShape();
				vertices[0] = Utilities.Mul(xf1, new Vec2(-1.0f, 0.0f));
				vertices[1] = Utilities.Mul(xf1, new Vec2(1.0f, 0.0f));
				vertices[2] = Utilities.Mul(xf1, new Vec2(0.0f, 0.5f));
				triangle1.Set(vertices, 3);

				Transform xf2 = new Transform();
				xf2.q.Set(-0.3524f * (float)Math.PI);
				xf2.p = -xf2.q.GetXAxis();

				PolygonShape triangle2 = new PolygonShape();
				vertices[0] = Utilities.Mul(xf2, new Vec2(-1.0f, 0.0f));
				vertices[1] = Utilities.Mul(xf2, new Vec2(1.0f, 0.0f));
				vertices[2] = Utilities.Mul(xf2, new Vec2(0.0f, 0.5f));
				triangle2.Set(vertices, 3);

				for (int i = 0; i < 10; ++i)
				{
					float x = RandomFloat(-0.1f, 0.1f);
					BodyDef bd = new BodyDef();
					bd.type = BodyType._dynamicBody;
					bd.Position.Set(x, 2.05f + 2.5f * i);
					bd.angle = 0.0f;
					Body body = m_world.CreateBody(bd);
					triangle1.Density = 2;
					triangle2.Density = 2;
					body.CreateFixture(triangle1);
					body.CreateFixture(triangle2);
				}
			}

			{
				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._dynamicBody;
				bd.Position.Set( 0.0f, 2.0f );
				Body body = m_world.CreateBody(bd);
				bottom.Density = 4;
				left.Density = 4;
				right.Density = 4;
				body.CreateFixture(bottom);
				body.CreateFixture(left);
				body.CreateFixture(right);
			}
		}
Exemplo n.º 21
0
		public Car()
		{		
			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 = new float[]{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._dynamicBody;
				Body body = m_world.CreateBody(bd);

				PolygonShape box = new PolygonShape();
				box.SetAsBox(10.0f, 0.25f);
				box.Density = 1;
				body.CreateFixture(box);

				RevoluteJointDef jd = new RevoluteJointDef();
				jd.Initialize(ground, body, body.GetPosition());
				jd.lowerAngle = -8.0f * (float)Math.PI / 180.0f;
				jd.upperAngle = 8.0f * (float)Math.PI / 180.0f;
				jd.enableLimit = true;
				m_world.CreateJoint(jd);

				body.ApplyAngularImpulse(100.0f, true);
			}

			// 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._dynamicBody;
					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);
				box.Density = 0.5f;

				Body body = null;
				BodyDef bd = new BodyDef();
				bd.type = BodyType._dynamicBody;

				bd.Position.Set(230.0f, 0.5f);
				body = m_world.CreateBody(bd);
				body.CreateFixture(box);

				bd.Position.Set(230.0f, 1.5f);
				body = m_world.CreateBody(bd);
				body.CreateFixture(box);

				bd.Position.Set(230.0f, 2.5f);
				body = m_world.CreateBody(bd);
				body.CreateFixture(box);

				bd.Position.Set(230.0f, 3.5f);
				body = m_world.CreateBody(bd);
				body.CreateFixture(box);

				bd.Position.Set(230.0f, 4.5f);
				body = m_world.CreateBody(bd);
				body.CreateFixture(box);
			}

			// Car
			{
				PolygonShape chassis = new PolygonShape();
				Vec2[] vertices = new Vec2[8];
				vertices[0].Set(-1.5f, -0.5f);
				vertices[1].Set(1.5f, -0.5f);
				vertices[2].Set(1.5f, 0.0f);
				vertices[3].Set(0.0f, 0.9f);
				vertices[4].Set(-1.15f, 0.9f);
				vertices[5].Set(-1.5f, 0.2f);
				chassis.Set(vertices, 6);

				CircleShape circle = new CircleShape();
				circle.m_radius = 0.4f;

				BodyDef bd = new BodyDef();
				bd.type = BodyType._dynamicBody;
				bd.Position.Set(0.0f, 1.0f);
				m_car = m_world.CreateBody(bd);
				m_car.CreateFixture(chassis);

				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);
			}
		}
Exemplo n.º 22
0
		Cantilever()
		{
			Body ground = null;
			{
				BodyDef bd = new BodyDef();
				ground = m_world.CreateBody(bd);

				EdgeShape shape = new EdgeShape();
				shape.Set(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
				shape.Density = 0;
				ground.CreateFixture(shape);
			}

			{
				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._dynamicBody;
					bd.Position.Set(-14.5f + 1.0f * i, 5.0f);
					Body body = m_world.CreateBody(bd);
					body.CreateFixture(fd);

					Vec2 anchor = new Vec2(-15.0f + 1.0f * i, 5.0f);
					jd.Initialize(prevBody, body, anchor);
					m_world.CreateJoint(jd);

					prevBody = body;
				}
			}

			{
				PolygonShape shape = new PolygonShape();
				shape.SetAsBox(1.0f, 0.125f);

				FixtureDef fd = new FixtureDef();
				fd.shape = shape;
				fd.Density = 20.0f;

				WeldJointDef jd = new WeldJointDef();
				jd.frequencyHz = 5.0f;
				jd.dampingRatio = 0.7f;

				Body prevBody = ground;
				for (int i = 0; i < 3; ++i)
				{
					BodyDef bd = new BodyDef();
					bd.type = BodyType._dynamicBody;
					bd.Position.Set(-14.0f + 2.0f * i, 15.0f);
					Body body = m_world.CreateBody(bd);
					body.CreateFixture(fd);

					Vec2 anchor = new Vec2(-15.0f + 2.0f * i, 15.0f);
					jd.Initialize(prevBody, body, anchor);
					m_world.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._dynamicBody;
					bd.Position.Set(-4.5f + 1.0f * i, 5.0f);
					Body body = m_world.CreateBody(bd);
					body.CreateFixture(fd);

					if (i > 0)
					{
						Vec2 anchor = new Vec2(-5.0f + 1.0f * i, 5.0f);
						jd.Initialize(prevBody, body, anchor);
						m_world.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 = 8.0f;
				jd.dampingRatio = 0.7f;

				Body prevBody = ground;
				for (int i = 0; i < e_count; ++i)
				{
					BodyDef bd = new BodyDef();
					bd.type = BodyType._dynamicBody;
					bd.Position.Set(5.5f + 1.0f * i, 10.0f);
					Body body = m_world.CreateBody(bd);
					body.CreateFixture(fd);

					if (i > 0)
					{
						Vec2 anchor = new Vec2(5.0f + 1.0f * i, 10.0f);
						jd.Initialize(prevBody, body, anchor);
						m_world.CreateJoint(jd);
					}

					prevBody = body;
				}
			}

			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.type = BodyType._dynamicBody;
				bd.Position.Set(-8.0f + 8.0f * i, 12.0f);
				Body body = m_world.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._dynamicBody;
				bd.Position.Set(-6.0f + 6.0f * i, 10.0f);
				Body body = m_world.CreateBody(bd);
				body.CreateFixture(fd);
			}
		}
Exemplo n.º 23
0
		public Gears()
		{
			Body ground = null;
			{
				BodyDef bd = new BodyDef();
				ground = m_world.CreateBody(bd);

				EdgeShape shape = new EdgeShape();
				shape.Set(new Vec2(50.0f, 0.0f), new Vec2(-50.0f, 0.0f));
				shape.Density = 0;
				ground.CreateFixture(shape);
			}

			{
				CircleShape circle1 = new CircleShape();
				circle1.m_radius = 1.0f;
				circle1.Density = 5;

				PolygonShape box = new PolygonShape();
				box.SetAsBox(0.5f, 5.0f);
				box.Density = 5;

				CircleShape circle2 = new CircleShape();
				circle2.m_radius = 2.0f;
				circle2.Density = 5;
			
				BodyDef bd1 = new BodyDef();
				bd1.type = BodyType._staticBody;
				bd1.Position.Set(10.0f, 9.0f);
				Body body1 = m_world.CreateBody(bd1);
				body1.CreateFixture(circle1);

				BodyDef bd2 = new BodyDef();
				bd2.type = BodyType._dynamicBody;
				bd2.Position.Set(10.0f, 8.0f);
				Body body2 = m_world.CreateBody(bd2);
				body2.CreateFixture(box);

				BodyDef bd3 = new BodyDef();
				bd3.type = BodyType._dynamicBody;
				bd3.Position.Set(10.0f, 6.0f);
				Body body3 = m_world.CreateBody(bd3);
				body3.CreateFixture(circle2);

				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;
				circle1.Density = 5;

				CircleShape circle2 = new CircleShape();
				circle2.m_radius = 2.0f;
				circle2.Density = 5;
			
				PolygonShape box = new PolygonShape();
				box.SetAsBox(0.5f, 5.0f);

				BodyDef bd1 = new BodyDef();
				bd1.type = BodyType._dynamicBody;
				bd1.Position.Set(-3.0f, 12.0f);
				Body body1 = m_world.CreateBody(bd1);
				body1.CreateFixture(circle1);

				RevoluteJointDef jd1 = new RevoluteJointDef();
				jd1.bodyA = ground;
				jd1.bodyB = body1;
				jd1.localAnchorA = ground.GetLocalPoint(bd1.Position);
				jd1.localAnchorB = body1.GetLocalPoint(bd1.Position);
				jd1.referenceAngle = body1.GetAngle() - ground.GetAngle();
				m_joint1 = (RevoluteJoint)m_world.CreateJoint(jd1);

				BodyDef bd2 = new BodyDef();
				bd2.type = BodyType._dynamicBody;
				bd2.Position.Set(0.0f, 12.0f);
				Body body2 = m_world.CreateBody(bd2);
				body2.CreateFixture(circle2);

				RevoluteJointDef jd2 = new RevoluteJointDef();
				jd2.Initialize(ground, body2, bd2.Position);
				m_joint2 = (RevoluteJoint)m_world.CreateJoint(jd2);

				BodyDef bd3 = new BodyDef();
				bd3.type = BodyType._dynamicBody;
				bd3.Position.Set(2.5f, 12.0f);
				Body body3 = m_world.CreateBody(bd3);
				box.Density = 5;
				body3.CreateFixture(box);

				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 = -1.0f / circle2.m_radius;
				m_joint5 = (GearJoint)m_world.CreateJoint(jd5);
			}
		}
Exemplo n.º 24
0
		public ContinuousTest()
		{
			{
				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));
				edge.Density = 0;
				body.CreateFixture(edge);

				PolygonShape shape = new PolygonShape();
				shape.SetAsBox(0.2f, 1.0f, new Vec2(0.5f, 1.0f), 0.0f);
				shape.Density = 0;
				body.CreateFixture(shape);
			}

	#if true
			{
				BodyDef bd = new BodyDef();
				bd.type = BodyType._dynamicBody;
				bd.Position.Set(0.0f, 20.0f);
				//bd.angle = 0.1f;

				PolygonShape shape = new PolygonShape();
				shape.SetAsBox(2.0f, 0.1f);

				m_body = m_world.CreateBody(bd);
				m_body.CreateFixture(shape);

				m_angularVelocity = RandomFloat(-50.0f, 50.0f);
				//m_angularVelocity = 46.661274f;
				m_body.SetLinearVelocity(new Vec2(0.0f, -100.0f));
				m_body.SetAngularVelocity(m_angularVelocity);
			}
	#else
			{
				BodyDef bd = new BodyDef();
				bd.type = BodyType._dynamicBody;
				bd.position.Set(0.0f, 2.0f);
				Body body = m_world.CreateBody(bd);

				CircleShape shape = new CircleShape();
				shape.m_p.SetZero();
				shape.m_radius = 0.5f;
				body.CreateFixture(shape);

				bd.bullet = true;
				bd.position.Set(0.0f, 10.0f);
				body = m_world.CreateBody(bd);
				body.CreateFixture(shape, 1.0f);
				body.SetLinearVelocity(new Vec2(0.0f, -100.0f));
			}
	#endif

			Utilities._gjkCalls = 0; Utilities._gjkIters = 0; Utilities._gjkMaxIters = 0;
			Utilities._toiCalls = 0; Utilities._toiIters = 0;
			Utilities._toiRootIters = 0; Utilities._toiMaxRootIters = 0;
			Utilities._toiTime = 0.0f; Utilities._toiMaxTime = 0.0f;
		}
Exemplo n.º 25
0
		public Pinball()
		{
			// Ground body
			Body ground = null;
			{
				BodyDef bd = new BodyDef();
				ground = m_world.CreateBody(bd);

				Vec2[] vs = new Vec2[5];
				vs[0].Set(0.0f, -2.0f);
				vs[1].Set(8.0f, 6.0f);
				vs[2].Set(8.0f, 20.0f);
				vs[3].Set(-8.0f, 20.0f);
				vs[4].Set(-8.0f, 6.0f);

				ChainShape loop = new ChainShape();
				loop.CreateLoop(vs, 5);
				FixtureDef fd = new FixtureDef();
				fd.shape = loop;
				fd.Density = 0.0f;
				ground.CreateFixture(fd);
			}

			// Flippers
			{
				Vec2 p1 = new Vec2(-2.0f, 0.0f);
				Vec2 p2 = new Vec2(2.0f, 0.0f);

				BodyDef bd = new BodyDef();
				bd.type = BodyType._dynamicBody;

				bd.Position = p1;
				Body leftFlipper = m_world.CreateBody(bd);

				bd.Position = p2;
				Body rightFlipper = m_world.CreateBody(bd);

				PolygonShape box = new PolygonShape();
				box.SetAsBox(1.75f, 0.1f);

				FixtureDef fd = new FixtureDef();
				fd.shape = box;
				fd.Density = 1.0f;

				leftFlipper.CreateFixture(fd);
				rightFlipper.CreateFixture(fd);

				RevoluteJointDef jd = new RevoluteJointDef();
				jd.bodyA = ground;
				jd.localAnchorB.SetZero();
				jd.enableMotor = true;
				jd.maxMotorTorque = 1000.0f;
				jd.enableLimit = true;

				jd.motorSpeed = 0.0f;
				jd.localAnchorA = p1;
				jd.bodyB = leftFlipper;
				jd.lowerAngle = -30.0f * (float)Math.PI / 180.0f;
				jd.upperAngle = 5.0f * (float)Math.PI / 180.0f;
				m_leftJoint = (RevoluteJoint)m_world.CreateJoint(jd);

				jd.motorSpeed = 0.0f;
				jd.localAnchorA = p2;
				jd.bodyB = rightFlipper;
				jd.lowerAngle = -5.0f * (float)Math.PI / 180.0f;
				jd.upperAngle = 30.0f * (float)Math.PI / 180.0f;
				m_rightJoint = (RevoluteJoint)m_world.CreateJoint(jd);
			}

			// Circle character
			{
				BodyDef bd = new BodyDef();
				bd.Position.Set(1.0f, 15.0f);
				bd.type = BodyType._dynamicBody;
				bd.bullet = true;

				m_ball = m_world.CreateBody(bd);

				CircleShape shape = new CircleShape();
				shape.m_radius = 0.2f;

				FixtureDef fd = new FixtureDef();
				fd.shape = shape;
				fd.Density = 1.0f;
				m_ball.CreateFixture(fd);
			}

			m_button = false;
		}
Exemplo n.º 26
0
		public Revolute()
		{
			Body ground = null;
			{
				BodyDef bd = new BodyDef();
				ground = m_world.CreateBody(bd);

				EdgeShape shape = new EdgeShape();
				shape.Set(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));

				FixtureDef fd = new FixtureDef();
				fd.shape = shape;
				//fd.Filter.CategoryBits = 2;

				ground.CreateFixture(fd);
			}

			{
				CircleShape shape = new CircleShape();
				shape.m_radius = 0.5f;
				shape.Density = 5;

				BodyDef bd = new BodyDef();
				bd.type = BodyType._dynamicBody;

				RevoluteJointDef rjd = new RevoluteJointDef();

				bd.Position.Set(-10.0f, 20.0f);
				Body body = m_world.CreateBody(bd);
				body.CreateFixture(shape);

				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 * (float)Math.PI;
				rjd.maxMotorTorque = 10000.0f;
				rjd.enableMotor = false;
				rjd.lowerAngle = -0.25f * (float)Math.PI;
				rjd.upperAngle = 0.5f * (float)Math.PI;
				rjd.enableLimit = true;
				rjd.collideConnected = true;

				m_joint = (RevoluteJoint)m_world.CreateJoint(rjd);
			}

			{
				CircleShape circle_shape = new CircleShape();
				circle_shape.m_radius = 3.0f;

				BodyDef circle_bd = new BodyDef();
				circle_bd.type = BodyType._dynamicBody;
				circle_bd.Position.Set(5.0f, 30.0f);

				FixtureDef fd = new FixtureDef();
				fd.Density = 5.0f;
				fd.Filter.MaskBits = 1;
				fd.shape = circle_shape;

				m_ball = m_world.CreateBody(circle_bd);
				m_ball.CreateFixture(fd);

				PolygonShape polygon_shape = new PolygonShape();
				polygon_shape.SetAsBox(10.0f, 0.2f, new Vec2(-10.0f, 0.0f), 0.0f);
				polygon_shape.Density = 2;

				BodyDef polygon_bd = new BodyDef();
				polygon_bd.Position.Set(20.0f, 10.0f);
				polygon_bd.type = BodyType._dynamicBody;
				polygon_bd.bullet = true;
				Body polygon_body = m_world.CreateBody(polygon_bd);
				
				polygon_body.CreateFixture(polygon_shape);

				RevoluteJointDef rjd = new RevoluteJointDef();
				rjd.Initialize(ground, polygon_body, new Vec2(20.0f, 10.0f));
				rjd.lowerAngle = -0.25f * (float)Math.PI;
				rjd.upperAngle = 0.0f * (float)Math.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._dynamicBody;
				Body body = m_world.CreateBody(bodyDef);
		
				PolygonShape polyShape = new PolygonShape();
				Vec2[] verts = new Vec2[3];
				verts[0].Set( 17.63f, 36.31f );
				verts[1].Set( 17.52f, 36.69f );
				verts[2].Set( 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
			}

		}
Exemplo n.º 27
0
		public void LaunchBomb(Vec2 position, Vec2 velocity){
			if (m_bomb != null)
			{
				m_world.DestroyBody(m_bomb);
				m_bomb = null;
			}

			BodyDef bd = new BodyDef();
			bd.type = BodyType._dynamicBody;
			bd.Position = position;
			bd.bullet = true;
			m_bomb = m_world.CreateBody(bd);
			m_bomb.SetLinearVelocity(velocity);
	
			CircleShape circle = new CircleShape();
			circle.m_radius = 0.3f;

			FixtureDef fd = new FixtureDef();
			fd.shape = circle;
			fd.Density = 20.0f;
			fd.restitution = 0.0f;
	
			Vec2 minV = position - new Vec2(0.3f,0.3f);
			Vec2 maxV = position + new Vec2(0.3f, 0.3f);
	
			AABB aabb;
			aabb.lowerBound = minV;
			aabb.upperBound = maxV;

			m_bomb.CreateFixture(fd);
		}
Exemplo n.º 28
0
        private void DrawShape(Fixture fixture, Transform xf, Color color)
        {
            switch (fixture.GetShapeType())
            {
            case ShapeType.Circle:
            {
                CircleShape circle = (CircleShape)fixture.GetShape();

                Vec2  center = Utilities.Mul(xf, circle.m_p);
                float radius = circle.m_radius;
                Vec2  axis   = Utilities.Mul(xf.q, new Vec2(1.0f, 0.0f));

                m_debugDraw.DrawSolidCircle(center, radius, axis, color);
            }
            break;

            case ShapeType.Edge:
            {
                EdgeShape edge = (EdgeShape)fixture.GetShape();
                Vec2      v1   = Utilities.Mul(xf, edge.m_vertex1);
                Vec2      v2   = Utilities.Mul(xf, edge.m_vertex2);
                m_debugDraw.DrawSegment(v1, v2, color);
            }
            break;

            case ShapeType.Chain:
            {
                ChainShape  chain    = (ChainShape)fixture.GetShape();
                int         count    = chain.m_count;
                List <Vec2> vertices = chain.m_vertices;

                Vec2 v1 = Utilities.Mul(xf, vertices[0]);
                for (int i = 1; i < count; ++i)
                {
                    Vec2 v2 = Utilities.Mul(xf, vertices[i]);
                    m_debugDraw.DrawSegment(v1, v2, color);
                    m_debugDraw.DrawCircle(v1, 0.05f, color);
                    v1 = v2;
                }
            }
            break;

            case ShapeType.Polygon:
            {
                PolygonShape poly        = (PolygonShape)fixture.GetShape();
                int          vertexCount = poly.m_count;
                Utilities.Assert(vertexCount <= Settings._maxPolygonVertices);
                Vec2[] vertices = new Vec2[Settings._maxPolygonVertices];

                for (int i = 0; i < vertexCount; ++i)
                {
                    vertices[i] = Utilities.Mul(xf, poly.m_vertices[i]);
                }

                m_debugDraw.DrawSolidPolygon(vertices, vertexCount, color);
            }
            break;

            default:
                break;
            }
        }