/// Creates a fixture and attach it to this body. Use this function if you need
/// to set some fixture parameters, like friction. Otherwise you can create the
/// fixture directly from a shape.
/// If the Density is non-zero, this function automatically updates the mass of the body.
/// Contacts are not created until the next time step.
/// @param def the fixture definition.
/// @warning This function is locked during callbacks.
public Fixture CreateFixture(FixtureDef def)
{
Utilities.Assert(m_world.IsLocked() == false);
if (m_world.IsLocked() == true)
{
return(null);
}
Fixture fixture = new Fixture();
fixture.Create(this, def);
if (m_flags.HasFlag(BodyFlags.e_activeFlag))
{
BroadPhase broadPhase = m_world.m_contactManager.m_broadPhase;
fixture.CreateProxies(broadPhase, m_xf);
}
m_fixtureList.Add(fixture);
fixture.m_body = this;
// Adjust mass properties if needed.
if (fixture.m_Density > 0.0f)
{
ResetMassData();
}
// Let the world know we have a new fixture. This will cause new contacts
// to be created at the beginning of the next time step.
m_world.m_flags |= WorldFlags.e_newFixture;
return(fixture);
}
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));
}
}
}
/// Creates a fixture and attach it to this body. Use this function if you need
/// to set some fixture parameters, like friction. Otherwise you can create the
/// fixture directly from a shape.
/// If the Density is non-zero, this function automatically updates the mass of the body.
/// Contacts are not created until the next time step.
/// @param def the fixture definition.
/// @warning This function is locked during callbacks.
public Fixture CreateFixture(FixtureDef def){
Utilities.Assert(m_world.IsLocked() == false);
if (m_world.IsLocked() == true)
{
return null;
}
Fixture fixture = new Fixture();
fixture.Create(this, def);
if (m_flags.HasFlag(BodyFlags.e_activeFlag))
{
BroadPhase broadPhase = m_world.m_contactManager.m_broadPhase;
fixture.CreateProxies(broadPhase, m_xf);
}
m_fixtureList.Add(fixture);
fixture.m_body = this;
// Adjust mass properties if needed.
if (fixture.m_Density > 0.0f)
{
ResetMassData();
}
// Let the world know we have a new fixture. This will cause new contacts
// to be created at the beginning of the next time step.
m_world.m_flags |= WorldFlags.e_newFixture;
return fixture;
}
// We need separation create/destroy functions from the constructor/destructor because
// the destructor cannot access the allocator or broad-phase (no destructor arguments allowed by C++).
internal void Create(Body body, FixtureDef def)
{
_userData = def.userData;
_friction = def.friction;
_restitution = def.restitution;
_body = body;
_next = null;
_filter = def.filter;
_isSensor = def.isSensor;
_shape = def.shape.Clone();
// Reserve proxy space
int childCount = _shape.GetChildCount();
_proxies = new FixtureProxy[childCount];
for (int i = 0; i < childCount; ++i)
{
_proxies[i] = new FixtureProxy();
_proxies[i].fixture = null;
_proxies[i].proxyId = BroadPhase.NullProxy;
}
_proxyCount = 0;
_density = def.density;
}
/// Creates a fixture from a shape and attach it to this body.
/// This is a convenience function. Use FixtureDef if you need to set parameters
/// like friction, restitution, user data, or filtering.
/// If the Density is non-zero, this function automatically updates the mass of the body.
/// @param shape the shape to be cloned.
/// @param Density the shape Density (set to zero for static bodies).
/// @warning This function is locked during callbacks.
public Fixture CreateFixture(Shape shape){
FixtureDef def = new FixtureDef();
def.shape = shape.Clone();
def.Density = shape.Density;
def.Filter = shape.Filter;
return CreateFixture(def);
}
/// Creates a fixture from a shape and attach it to this body.
/// This is a convenience function. Use FixtureDef if you need to set parameters
/// like friction, restitution, user data, or filtering.
/// If the density is non-zero, this function automatically updates the mass of the body.
/// @param shape the shape to be cloned.
/// @param density the shape density (set to zero for static bodies).
/// @warning This function is locked during callbacks.
public Fixture CreateFixture(Shape shape, float density)
{
FixtureDef def = new FixtureDef();
def.shape = shape;
def.density = density;
return(CreateFixture(def));
}
/// Creates a fixture from a shape and attach it to this body.
/// This is a convenience function. Use FixtureDef if you need to set parameters
/// like friction, restitution, user data, or filtering.
/// If the Density is non-zero, this function automatically updates the mass of the body.
/// @param shape the shape to be cloned.
/// @param Density the shape Density (set to zero for static bodies).
/// @warning This function is locked during callbacks.
public Fixture CreateFixture(Shape shape)
{
FixtureDef def = new FixtureDef();
def.shape = shape.Clone();
def.Density = shape.Density;
def.Filter = shape.Filter;
return(CreateFixture(def));
}
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);
}
}
}
//e_columnCount = 1,
//e_rowCount = 1
public VerticalStack()
{
{
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);
shape.Set(new Vec2(20.0f, 0.0f), new Vec2(20.0f, 20.0f));
shape.Density = 0;
ground.CreateFixture(shape);
}
float[] xs = {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._dynamicBody;
int n = j * e_rowCount + i;
Utilities.Assert(n < e_rowCount * e_columnCount);
m_indices[n] = n;
bd.UserData = m_indices[n];
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 = m_world.CreateBody(bd);
m_bodies[n] = body;
body.CreateFixture(fd);
}
}
m_bullet = null;
}
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));
}
public GravityTest() {
// Define the gravity vector.
Vec2 gravity = new Vec2(0.0f, 10.0f);
// Construct a world object, which will hold and simulate the rigid bodies.
m_world.SetGravity(gravity);
// Define the ground body.
BodyDef groundBodyDef = new BodyDef();
groundBodyDef.Position.Set(0.0f, 20.0f);
// Call the body factory which allocates memory for the ground body
// from a pool and creates the ground box shape (also from a pool).
// The body is also added to the world.
Body groundBody = m_world.CreateBody(groundBodyDef);
// Define the ground box shape.
PolygonShape groundBox = new PolygonShape();
// The extents are the half-widths of the box.
groundBox.SetAsBox(50.0f, 10.0f);
groundBox.Density = 0;
// Add the ground fixture to the ground body.
groundBody.CreateFixture(groundBox);
// Define the dynamic body. We set its position and call the body factory.
BodyDef bodyDef = new BodyDef();
bodyDef.type = BodyType._dynamicBody;
bodyDef.Position = new Vec2(0.0f, 4.0f);
Body body = m_world.CreateBody(bodyDef);
// Define another box shape for our dynamic body.
PolygonShape dynamicBox = new PolygonShape();
dynamicBox.SetAsBox(1.0f, 1.0f);
// Define the dynamic body fixture.
FixtureDef fixtureDef = new FixtureDef();
fixtureDef.shape = dynamicBox;
// Set the box Density to be non-zero, so it will be dynamic.
fixtureDef.Density = 1.0f;
// Override the default friction.
fixtureDef.friction = 0.3f;
// Add the shape to the body.
body.CreateFixture(fixtureDef);
}
public Chain()
{
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(0.6f, 0.125f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.Density = 20.0f;
fd.friction = 0.2f;
RevoluteJointDef jd = new RevoluteJointDef();
jd.collideConnected = false;
const float y = 25.0f;
Body prevBody = ground;
for (int i = 0; i < 30; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(0.5f + i, y);
Body body = m_world.CreateBody(bd);
body.CreateFixture(fd);
Vec2 anchor = new Vec2((float)(i), y);
jd.Initialize(prevBody, body, anchor);
m_world.CreateJoint(jd);
prevBody = body;
}
}
}
public MotorJointTest()
{
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = m_world.CreateBody(bd);
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;
ground.CreateFixture(fd);
}
// Define motorized body
{
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(0.0f, 8.0f);
Body body = m_world.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(ground, body);
mjd.maxForce = 1000.0f;
mjd.maxTorque = 1000.0f;
m_joint = (MotorJoint)m_world.CreateJoint(mjd);
}
m_go = false;
m_time = 0.0f;
}
public ConveyorBelt()
{
// 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(-5.0f, 5.0f);
Body body = m_world.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._dynamicBody;
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);
shape.Density = 20;
body.CreateFixture(shape);
}
}
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);
}
// We need separation create/destroy functions from the constructor/destructor because
// the destructor cannot access the allocator (no destructor arguments allowed by C++).
internal void Create(Body body, FixtureDef def)
{
m_userData = def.UserData;
m_friction = def.friction;
m_restitution = def.restitution;
m_body = body;
m_next = null;
m_filter = def.Filter;
m_isSensor = def.IsSensor;
m_shape = def.shape.Clone();
// Reserve proxy space
int childCount = m_shape.GetChildCount();
m_proxies = new List <FixtureProxy>();
m_Density = def.Density;
}
/// Creates a fixture and attach it to this body. Use this function if you need
/// to set some fixture parameters, like friction. Otherwise you can create the
/// fixture directly from a shape.
/// If the density is non-zero, this function automatically updates the mass of the body.
/// Contacts are not created until the next time step.
/// @param def the fixture definition.
/// @warning This function is locked during callbacks.
public Fixture CreateFixture(FixtureDef def)
{
//Debug.Assert(_world.IsLocked == false);
if (_world.IsLocked == true)
{
return(null);
}
Fixture fixture = new Fixture();
fixture.Create(this, def);
if ((_flags & BodyFlags.Active) == BodyFlags.Active)
{
BroadPhase broadPhase = _world._contactManager._broadPhase;
fixture.CreateProxies(broadPhase, ref _xf);
}
fixture._next = _fixtureList;
_fixtureList = fixture;
++_fixtureCount;
fixture._body = this;
// Adjust mass properties if needed.
if (fixture._density > 0.0f)
{
ResetMassData();
}
// Let the world know we have a new fixture. This will cause new contacts
// to be created at the beginning of the next time step.
_world._flags |= WorldFlags.NewFixture;
return(fixture);
}
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);
}
}
}
public BodyTypes()
{
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = m_world.CreateBody(bd);
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;
ground.CreateFixture(fd);
}
// Define attachment
{
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(0.0f, 3.0f);
m_attachment = m_world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.5f, 2.0f);
shape.Density = 2;
m_attachment.CreateFixture(shape);
}
// Define platform
{
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(-4.0f, 5.0f);
m_platform = m_world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.5f, 4.0f, new Vec2(4.0f, 0.0f), 0.5f * (float)Math.PI);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.friction = 0.6f;
fd.Density = 2.0f;
m_platform.CreateFixture(fd);
RevoluteJointDef rjd = new RevoluteJointDef();
rjd.Initialize(m_attachment, m_platform, new Vec2(0.0f, 5.0f));
rjd.maxMotorTorque = 50.0f;
rjd.enableMotor = true;
m_world.CreateJoint(rjd);
PrismaticJointDef pjd = new PrismaticJointDef();
pjd.Initialize(ground, m_platform, new Vec2(0.0f, 5.0f), new Vec2(1.0f, 0.0f));
pjd.maxMotorForce = 1000.0f;
pjd.enableMotor = true;
pjd.lowerTranslation = -10.0f;
pjd.upperTranslation = 10.0f;
pjd.enableLimit = true;
m_world.CreateJoint(pjd);
m_speed = 3.0f;
}
// Create a payload
{
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(0.0f, 8.0f);
Body body = m_world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.75f, 0.75f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.friction = 0.6f;
fd.Density = 2.0f;
body.CreateFixture(fd);
}
}
// This is a simple example of building and running a simulation
// using Box2D. Here we create a large ground box and a small dynamic
// box.
// There are no graphics for this example. Box2D is meant to be used
// with your rendering engine in your game engine.
public static int Main(string[] args)
{
// Define the gravity vector.
Vec2 gravity = new Vec2(0.0f, -10.0f);
// Construct a world object, which will hold and simulate the rigid bodies.
World world = new World(gravity);
// Define the ground body.
BodyDef groundBodyDef = new BodyDef();
groundBodyDef.Position.Set(0.0f, -10.0f);
// Call the body factory which allocates memory for the ground body
// from a pool and creates the ground box shape (also from a pool).
// The body is also added to the world.
Body groundBody = world.CreateBody(groundBodyDef);
// Define the ground box shape.
PolygonShape groundBox = new PolygonShape();
// The extents are the half-widths of the box.
groundBox.SetAsBox(50.0f, 10.0f);
groundBox.Density = 0;
// Add the ground fixture to the ground body.
groundBody.CreateFixture(groundBox);
// Define the dynamic body. We set its position and call the body factory.
BodyDef bodyDef = new BodyDef();
bodyDef.type = BodyType._dynamicBody;
bodyDef.Position = new Vec2(0.0f, 4.0f);
Body body = world.CreateBody(bodyDef);
// Define another box shape for our dynamic body.
PolygonShape dynamicBox = new PolygonShape();
dynamicBox.SetAsBox(1.0f, 1.0f);
// Define the dynamic body fixture.
FixtureDef fixtureDef = new FixtureDef();
fixtureDef.shape = dynamicBox;
// Set the box Density to be non-zero, so it will be dynamic.
fixtureDef.Density = 1.0f;
// Override the default friction.
fixtureDef.friction = 0.3f;
// Add the shape to the body.
body.CreateFixture(fixtureDef);
// Prepare for simulation. Typically we use a time step of 1/60 of a
// second (60Hz) and 10 iterations. This provides a high quality simulation
// in most game scenarios.
float timeStep = 1.0f / 60.0f;
int velocityIterations = 6;
int positionIterations = 2;
// This is our little game loop.
for (int i = 0; i < 60; ++i)
{
// Instruct the world to perform a single step of simulation.
// It is generally best to keep the time step and iterations fixed.
world.Step(timeStep, velocityIterations, positionIterations);
// Now print the position and angle of the body.
Vec2 position = body.GetPosition();
float angle = body.GetAngle();
Console.WriteLine("{0} {1} {2}", position.X.ToString("0000.00"), position.Y.ToString("0000.00"), angle.ToString("0000.00"));
}
// When the world destructor is called, all bodies and joints are freed. This can
// create orphaned pointers, so be careful about your world management.
Console.WriteLine("Done!");
Console.ReadLine();
return 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;
}
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);
}
}
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);
}
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);
}
DumpShell() {
Vec2 g = new Vec2(0, 0);
m_world.SetGravity(g);
List<Body> bodies = new List<Body>();
List<Joint> joints = new List<Joint>();
{
BodyDef bd = new BodyDef();
bd.type = (BodyType)2;
bd.Position.Set(3.000000000000000e+001f, 6.909857940673828e+001f);
bd.angle = 0.000000000000000e+000f;
bd.linearVelocity.Set(0.000000000000000e+000f, -8.618643951416016e+001f);
bd.angularVelocity = 0.000000000000000e+000f;
bd.linearDamping = 0.000000000000000e+000f;
bd.angularDamping = 0.000000000000000e+000f;
bd.allowSleep = true;
bd.awake = true;
bd.fixedRotation = true;
bd.bullet = false;
bd.active = true;
bd.gravityScale = 1.000000000000000e+000f;
bodies.Add(m_world.CreateBody(bd));
{
FixtureDef fd = new FixtureDef();
fd.friction = 6.000000238418579e-001f;
fd.restitution = 0.000000000000000e+000f;
fd.Density = 5.000000000000000e-001f;
fd.IsSensor = false;
fd.Filter.CategoryBits = (ushort)(1);
fd.Filter.MaskBits = (ushort)(2);
fd.Filter.GroupIndex = (short)(0);
PolygonShape shape = new PolygonShape();
Vec2[] vs = new Vec2[8];
vs[0].Set(-1.950000047683716e+000f, -4.750000000000000e+000f);
vs[1].Set(1.950000047683716e+000f, -4.750000000000000e+000f);
vs[2].Set(1.950000047683716e+000f, 4.750000000000000e+000f);
vs[3].Set(-1.950000047683716e+000f, 4.750000000000000e+000f);
shape.Set(vs, 4);
fd.shape = shape;
bodies[0].CreateFixture(fd);
}
}
{
BodyDef bd = new BodyDef();
bd.type = (BodyType)(0);
bd.Position.Set(5.120000457763672e+001f, 7.580000305175781e+001f);
bd.angle = 0.000000000000000e+000f;
bd.linearVelocity.Set(0.000000000000000e+000f, 0.000000000000000e+000f);
bd.angularVelocity = 0.000000000000000e+000f;
bd.linearDamping = 0.000000000000000e+000f;
bd.angularDamping = 0.000000000000000e+000f;
bd.allowSleep = true;
bd.awake = true;
bd.fixedRotation = false;
bd.bullet = false;
bd.active = true;
bd.gravityScale = 1.000000000000000e+000f;
bodies.Add(m_world.CreateBody(bd));
{
FixtureDef fd = new FixtureDef();
fd.friction = 0.000000000000000e+000f;
fd.restitution = 0.000000000000000e+000f;
fd.Density = 1.000000000000000e+000f;
fd.IsSensor = false;
fd.Filter.CategoryBits = (ushort)(2);
fd.Filter.MaskBits = (ushort)(65535);
fd.Filter.GroupIndex = (short)(0);
PolygonShape shape = new PolygonShape();
Vec2[] vs = new Vec2[8];
vs[0].Set(-5.120000076293945e+001f, -5.000000000000000e-001f);
vs[1].Set(5.120000076293945e+001f, -5.000000000000000e-001f);
vs[2].Set(5.120000076293945e+001f, 5.000000000000000e-001f);
vs[3].Set(-5.120000076293945e+001f, 5.000000000000000e-001f);
shape.Set(vs, 4);
fd.shape = shape;
bodies[1].CreateFixture(fd);
}
}
joints = null;
bodies = null;
}
public void CreateLeg(float s, Vec2 wheelAnchor)
{
Vec2 p1 = new Vec2(5.4f * s, -6.1f);
Vec2 p2 = new Vec2(7.2f * s, -1.2f);
Vec2 p3 = new Vec2(4.3f * s, -1.9f);
Vec2 p4 = new Vec2(3.1f * s, 0.8f);
Vec2 p5 = new Vec2(6.0f * s, 1.5f);
Vec2 p6 = new Vec2(2.5f * s, 3.7f);
FixtureDef fd1 = new FixtureDef();
FixtureDef fd2 = new FixtureDef();
fd1.Filter.GroupIndex = -1;
fd2.Filter.GroupIndex = -1;
fd1.Density = 1.0f;
fd2.Density = 1.0f;
PolygonShape poly1 = new PolygonShape();
PolygonShape poly2 = new PolygonShape();
if (s > 0.0f)
{
Vec2[] vertices = new Vec2[3];
vertices[0] = p1;
vertices[1] = p2;
vertices[2] = p3;
poly1.Set(vertices, 3);
vertices[0] = new Vec2(0, 0);
vertices[1] = p5 - p4;
vertices[2] = p6 - p4;
poly2.Set(vertices, 3);
}
else
{
Vec2[] vertices = new Vec2[3];
vertices[0] = p1;
vertices[1] = p3;
vertices[2] = p2;
poly1.Set(vertices, 3);
vertices[0] = new Vec2(0, 0);
vertices[1] = p6 - p4;
vertices[2] = p5 - p4;
poly2.Set(vertices, 3);
}
fd1.shape = poly1;
fd2.shape = poly2;
BodyDef bd1 = new BodyDef();
BodyDef bd2 = new BodyDef();
bd1.type = BodyType._dynamicBody;
bd2.type = BodyType._dynamicBody;
bd1.Position = m_offset;
bd2.Position = p4 + m_offset;
bd1.angularDamping = 10.0f;
bd2.angularDamping = 10.0f;
Body body1 = m_world.CreateBody(bd1);
Body body2 = m_world.CreateBody(bd2);
body1.CreateFixture(fd1);
body2.CreateFixture(fd2);
DistanceJointDef djd = new DistanceJointDef();
// Using a soft distance constraint can reduce some jitter.
// It also makes the structure seem a bit more fluid by
// acting like a suspension system.
djd.dampingRatio = 0.5f;
djd.frequencyHz = 10.0f;
djd.Initialize(body1, body2, p2 + m_offset, p5 + m_offset);
m_world.CreateJoint(djd);
djd.Initialize(body1, body2, p3 + m_offset, p4 + m_offset);
m_world.CreateJoint(djd);
djd.Initialize(body1, m_wheel, p3 + m_offset, wheelAnchor + m_offset);
m_world.CreateJoint(djd);
djd.Initialize(body2, m_wheel, p6 + m_offset, wheelAnchor + m_offset);
m_world.CreateJoint(djd);
RevoluteJointDef rjd = new RevoluteJointDef();
rjd.Initialize(body2, m_chassis, p4 + m_offset);
m_world.CreateJoint(rjd);
}
public VaryingFriction()
{
{
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);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(13.0f, 0.25f);
BodyDef bd = new BodyDef();
bd.Position.Set(-4.0f, 22.0f);
bd.angle = -0.25f;
Body ground = m_world.CreateBody(bd);
shape.Density = 0;
ground.CreateFixture(shape);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.25f, 1.0f);
shape.Density = 0;
BodyDef bd = new BodyDef();
bd.Position.Set(10.5f, 19.0f);
Body ground = m_world.CreateBody(bd);
ground.CreateFixture(shape);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(13.0f, 0.25f);
shape.Density = 0;
BodyDef bd = new BodyDef();
bd.Position.Set(4.0f, 14.0f);
bd.angle = 0.25f;
Body ground = m_world.CreateBody(bd);
ground.CreateFixture(shape);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.25f, 1.0f);
shape.Density = 0;
BodyDef bd = new BodyDef();
bd.Position.Set(-10.5f, 11.0f);
Body ground = m_world.CreateBody(bd);
ground.CreateFixture(shape);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(13.0f, 0.25f);
shape.Density = 0;
BodyDef bd = new BodyDef();
bd.Position.Set(-4.0f, 6.0f);
bd.angle = -0.25f;
Body ground = m_world.CreateBody(bd);
ground.CreateFixture(shape);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.5f, 0.5f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.Density = 25.0f;
float[] friction = new float[]{ 0.75f, 0.5f, 0.35f, 0.1f, 0.0f };
for (int i = 0; i < 5; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(-15.0f + 4.0f * i, 28.0f);
Body body = m_world.CreateBody(bd);
fd.friction = friction[i];
body.CreateFixture(fd);
}
}
}
public void Create(int index)
{
if (m_bodies[m_bodyIndex] != null)
{
m_world.DestroyBody(m_bodies[m_bodyIndex]);
m_bodies[m_bodyIndex] = null;
}
BodyDef bd = new BodyDef();
float x = RandomFloat(-10.0f, 10.0f);
float y = RandomFloat(10.0f, 20.0f);
bd.Position.Set(x, y);
bd.angle = RandomFloat(-(float)Math.PI, (float)Math.PI);
bd.type = BodyType._dynamicBody;
if (index == 4)
{
bd.angularDamping = 0.02f;
}
m_bodies[m_bodyIndex] = m_world.CreateBody(bd);
if (index < 4)
{
FixtureDef fd = new FixtureDef();
fd.shape = m_polygons[index];
fd.friction = 0.3f;
fd.Density = 20.0f;
m_bodies[m_bodyIndex].CreateFixture(fd);
}
else
{
FixtureDef fd = new FixtureDef();
fd.shape = m_circle;
fd.friction = 0.3f;
fd.Density = 20.0f;
m_bodies[m_bodyIndex].CreateFixture(fd);
}
m_bodyIndex = (m_bodyIndex + 1) % e_maxBodies;
}
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
}
}
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);
}
}
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);
}
}
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);
}
}
}
// We need separation create/destroy functions from the constructor/destructor because
// the destructor cannot access the allocator (no destructor arguments allowed by C++).
internal void Create(Body body, FixtureDef def){
m_userData = def.UserData;
m_friction = def.friction;
m_restitution = def.restitution;
m_body = body;
m_next = null;
m_filter = def.Filter;
m_isSensor = def.IsSensor;
m_shape = def.shape.Clone();
// Reserve proxy space
int childCount = m_shape.GetChildCount();
m_proxies = new List<FixtureProxy>();
m_Density = def.Density;
}
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);
}
public ApplyForce() {
m_world.SetGravity(new Vec2(0.0f, 0.0f));
const float k_restitution = 0.4f;
Body ground;
{
BodyDef bd = new BodyDef();
bd.Position.Set(0.0f, 20.0f);
ground = m_world.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 * (float)Math.PI);
xf1.p = xf1.q.GetXAxis();
Vec2[] vertices = new Vec2[3];
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));
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 * (float)Math.PI);
xf2.p = -xf2.q.GetXAxis();
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));
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._dynamicBody;
bd.angularDamping = 5.0f;
bd.linearDamping = 0.1f;
bd.Position.Set(0.0f, 2.0f);
bd.angle = (float)Math.PI;
bd.allowSleep = false;
m_body = m_world.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._dynamicBody;
bd.Position.Set(0.0f, 5.0f + 1.54f * i);
Body body = m_world.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 = (float)Math.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;
m_world.CreateJoint(jd);
}
}
}
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);
}