private ContinuousTest()
{
{
BodyDef bd = new BodyDef();
bd.Position = new Vector2(0.0f, 0.0f);
Body body = BodyFactory.CreateFromDef(World, bd);
EdgeShape edge = new EdgeShape();
edge.SetTwoSided(new Vector2(-10.0f, 0.0f), new Vector2(10.0f, 0.0f));
body.AddFixture(edge);
PolygonShape shape = new PolygonShape(0.0f);
shape.SetAsBox(0.2f, 1.0f, new Vector2(0.5f, 1.0f), 0.0f);
body.AddFixture(shape);
}
#if true
{
BodyDef bd = new BodyDef();
bd.Type = BodyType.Dynamic;
bd.Position = new Vector2(0.0f, 20.0f);
PolygonShape shape = new PolygonShape(1.0f);
shape.SetAsBox(2.0f, 0.1f);
_body = BodyFactory.CreateFromDef(World, bd);
_body.AddFixture(shape);
_angularVelocity = Rand.RandomFloat(-50.0f, 50.0f);
_body.LinearVelocity = new Vector2(0.0f, -100.0f);
_body.AngularVelocity = _angularVelocity;
}
#else
{
BodyDef bd = new BodyDef();
bd.Type = BodyType.Dynamic;
bd.Position = new Vector2(0.0f, 2.0f);
Body body = BodyFactory.CreateFromDef(World, bd);
CircleShape shape = new CircleShape(0.5f, 1.0f);
shape.Position = Vector2.Zero;
body.AddFixture(shape);
bd.IsBullet = true;
bd.Position = new Vector2(0.0f, 10.0f);
body = BodyFactory.CreateFromDef(World, bd);
body.AddFixture(shape);
body.LinearVelocity = new Vector2(0.0f, -100.0f);
}
#endif
DistanceGJK.GJKCalls = 0;
DistanceGJK.GJKIters = 0;
DistanceGJK.GJKMaxIters = 0;
TimeOfImpact.TOICalls = 0;
TimeOfImpact.TOIIters = 0;
TimeOfImpact.TOIRootIters = 0;
TimeOfImpact.TOIMaxRootIters = 0;
}
private Heavy1Test()
{
{
BodyDef bd = new BodyDef();
Body ground = BodyFactory.CreateFromDef(World, bd);
EdgeShape shape = new EdgeShape();
shape.SetTwoSided(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
ground.AddFixture(shape);
}
{
BodyDef bd = new BodyDef();
bd.Type = BodyType.Dynamic;
bd.Position = new Vector2(0.0f, 0.5f);
Body body = BodyFactory.CreateFromDef(World, bd);
CircleShape shape = new CircleShape(10.0f);
shape.Radius = 0.5f;
body.AddFixture(shape);
bd.Position = new Vector2(0.0f, 6.0f);
body = BodyFactory.CreateFromDef(World, bd);
shape.Radius = 5.0f;
body.AddFixture(shape);
}
}
private BreakableTest()
{
// Ground body
{
BodyDef bd = new BodyDef();
Body ground = BodyFactory.CreateFromDef(World, bd);
EdgeShape shape = new EdgeShape(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
ground.AddFixture(shape);
}
// Breakable dynamic body
{
BodyDef bd = new BodyDef();
bd.Type = BodyType.Dynamic;
bd.Position = new Vector2(0.0f, 40.0f);
bd.Angle = 0.25f * MathConstants.Pi;
_body1 = BodyFactory.CreateFromDef(World, bd);
_shape1 = new PolygonShape(1.0f);
_shape1.SetAsBox(0.5f, 0.5f, new Vector2(-0.5f, 0.0f), 0.0f);
_piece1 = _body1.AddFixture(_shape1);
_shape2 = new PolygonShape(1.0f);
_shape2.SetAsBox(0.5f, 0.5f, new Vector2(0.5f, 0.0f), 0.0f);
_piece2 = _body1.AddFixture(_shape2);
}
_break = false;
_broke = false;
}
private CircleBenchmarkTest()
{
Body ground = BodyFactory.CreateBody(World);
// Floor
EdgeShape ashape = new EdgeShape(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
ground.AddFixture(ashape);
// Left wall
ashape = new EdgeShape(new Vector2(-40.0f, 0.0f), new Vector2(-40.0f, 45.0f));
ground.AddFixture(ashape);
// Right wall
ashape = new EdgeShape(new Vector2(40.0f, 0.0f), new Vector2(40.0f, 45.0f));
ground.AddFixture(ashape);
// Roof
ashape = new EdgeShape(new Vector2(-40.0f, 45.0f), new Vector2(40.0f, 45.0f));
ground.AddFixture(ashape);
CircleShape shape = new CircleShape(1.0f, 1);
for (int i = 0; i < XCount; i++)
{
for (int j = 0; j < YCount; ++j)
{
Body body = BodyFactory.CreateBody(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(-38f + 2.1f * i, 2.0f + 2.0f * j);
body.AddFixture(shape);
}
}
}
private RockBreakTest()
{
// Ground body
BodyFactory.CreateEdge(World, new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
// Breakable dynamic body
_body1 = BodyFactory.CreateBody(World);
_body1.BodyType = BodyType.Dynamic;
_body1.Position = new Vector2(0.0f, 40.0f);
_body1.Rotation = 0.25f * MathConstants.Pi;
Vertices box = PolygonUtils.CreateRectangle(0.5f, 0.5f, new Vector2(-0.5f, 0.0f), 0.0f);
PolygonShape shape1 = new PolygonShape(box, 1);
_piece1 = _body1.AddFixture(shape1);
box = PolygonUtils.CreateRectangle(0.5f, 0.5f, new Vector2(0.5f, 0.0f), 0.0f);
_shape2 = new PolygonShape(box, 1);
_piece2 = _body1.AddFixture(_shape2);
_break = false;
_broke = false;
}
private SensorsTest()
{
{
BodyDef bd = new BodyDef();
Body ground = BodyFactory.CreateFromDef(World, bd);
{
EdgeShape shape = new EdgeShape();
shape.SetTwoSided(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
ground.AddFixture(shape);
}
#if false
{
FixtureDef sd;
sd.SetAsBox(10.0f, 2.0f, b2Vec2(0.0f, 20.0f), 0.0f);
sd.isSensor = true;
_sensor = ground.CreateFixture(sd);
}
#else
{
CircleShape shape = new CircleShape(0.0f);
shape.Radius = 5.0f;
shape.Position = new Vector2(0.0f, 10.0f);
FixtureDef fd = new FixtureDef();
fd.Shape = shape;
fd.IsSensor = true;
_sensor = ground.AddFixture(fd);
}
#endif
}
{
CircleShape shape = new CircleShape(1.0f);
shape.Radius = 1.0f;
for (int i = 0; i < _count; ++i)
{
BodyDef bd = new BodyDef();
bd.Type = BodyType.Dynamic;
bd.Position = new Vector2(-10.0f + 3.0f * i, 20.0f);
bd.UserData = i;
_touching[i] = false;
_bodies[i] = BodyFactory.CreateFromDef(World, bd);
_bodies[i].AddFixture(shape);
}
}
_force = 100.0f;
World.ContactManager.BeginContact += BeginContact;
World.ContactManager.EndContact += EndContact;
}
private ConfinedTest()
{
{
BodyDef bd = new BodyDef();
Body ground = BodyFactory.CreateFromDef(World, bd);
EdgeShape shape = new EdgeShape();
// Floor
shape.SetTwoSided(new Vector2(-10.0f, 0.0f), new Vector2(10.0f, 0.0f));
ground.AddFixture(shape);
// Left wall
shape.SetTwoSided(new Vector2(-10.0f, 0.0f), new Vector2(-10.0f, 20.0f));
ground.AddFixture(shape);
// Right wall
shape.SetTwoSided(new Vector2(10.0f, 0.0f), new Vector2(10.0f, 20.0f));
ground.AddFixture(shape);
// Roof
shape.SetTwoSided(new Vector2(-10.0f, 20.0f), new Vector2(10.0f, 20.0f));
ground.AddFixture(shape);
}
{
float radius = 0.5f;
CircleShape shape = new CircleShape(1.0f);
shape.Position = Vector2.Zero;
shape.Radius = radius;
FixtureDef fd = new FixtureDef();
fd.Shape = shape;
fd.Friction = 0.1f;
for (int j = 0; j < _columnCount; ++j)
{
for (int i = 0; i < _rowCount; ++i)
{
BodyDef bd = new BodyDef();
bd.Type = BodyType.Dynamic;
bd.Position = new Vector2(-10.0f + (2.1f * j + 1.0f + 0.01f * i) * radius, (2.0f * i + 1.0f) * radius);
Body body = BodyFactory.CreateFromDef(World, bd);
body.AddFixture(fd);
}
}
World.Gravity = new Vector2(0.0f, 0.0f);
}
}
private CircleStackTest()
{
{
BodyDef bd = new BodyDef();
Body ground = BodyFactory.CreateFromDef(World, bd);
EdgeShape shape = new EdgeShape(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
ground.AddFixture(shape);
}
{
CircleShape shape = new CircleShape(1.0f, 1.0f);
for (int i = 0; i < _count; ++i)
{
BodyDef bd = new BodyDef();
bd.Type = BodyType.Dynamic;
bd.Position = new Vector2(0.0f, 4.0f + 3.0f * i);
_bodies[i] = BodyFactory.CreateFromDef(World, bd);
_bodies[i].AddFixture(shape);
_bodies[i].LinearVelocity = new Vector2(0.0f, -50.0f);
}
}
}
private CuttingTest()
{
//Ground
BodyFactory.CreateEdge(World, new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
Vertices box = PolygonUtils.CreateRectangle(0.5f, 0.5f);
PolygonShape shape = new PolygonShape(box, 5);
Vector2 x = new Vector2(-7.0f, 0.75f);
Vector2 deltaX = new Vector2(0.5625f, 1.25f);
Vector2 deltaY = new Vector2(1.125f, 0.0f);
for (int i = 0; i < Count; ++i)
{
Vector2 y = x;
for (int j = i; j < Count; ++j)
{
Body body = BodyFactory.CreateBody(World);
body.BodyType = BodyType.Dynamic;
body.Position = y;
body.AddFixture(shape);
y += deltaY;
}
x += deltaX;
}
}
public override void Keyboard(KeyboardManager keyboard)
{
if (keyboard.IsNewKeyPress(Keys.C))
{
if (_fixture2 == null)
{
CircleShape shape = new CircleShape(10.0f);
shape.Radius = 3.0f;
shape.Position = new Vector2(0.5f, -4.0f);
_fixture2 = _body.AddFixture(shape);
_body.Awake = true;
}
}
else if (keyboard.IsNewKeyPress(Keys.D))
{
if (_fixture2 != null)
{
_body.RemoveFixture(_fixture2);
_fixture2 = null;
_body.Awake = true;
}
}
else if (keyboard.IsNewKeyPress(Keys.S))
{
if (_fixture2 != null)
{
_sensor = !_sensor;
_fixture2.IsSensor = _sensor;
}
}
base.Keyboard(keyboard);
}
private void Break()
{
// Create two bodies from one.
Body body1 = _piece1.Body;
Vector2 center = body1.WorldCenter;
body1.RemoveFixture(_piece2);
_piece2 = null;
Body body2 = BodyFactory.CreateBody(World);
body2.BodyType = BodyType.Dynamic;
body2.Position = body1.Position;
body2.Rotation = body1.Rotation;
_piece2 = body2.AddFixture(_shape2);
// Compute consistent velocities for new bodies based on
// cached velocity.
Vector2 center1 = body1.WorldCenter;
Vector2 center2 = body2.WorldCenter;
Vector2 velocity1 = _velocity + MathUtils.Cross(_angularVelocity, center1 - center);
Vector2 velocity2 = _velocity + MathUtils.Cross(_angularVelocity, center2 - center);
body1.AngularVelocity = _angularVelocity;
body1.LinearVelocity = velocity1;
body2.AngularVelocity = _angularVelocity;
body2.LinearVelocity = velocity2;
}
public override void Keyboard(KeyboardManager keyboard)
{
if (keyboard.IsNewKeyPress(Keys.OemComma))
{
if (_bullet != null)
{
World.RemoveBody(_bullet);
_bullet = null;
}
{
CircleShape shape = new CircleShape(0.25f, 20);
FixtureDef fd = new FixtureDef();
fd.Shape = shape;
fd.Restitution = 0.05f;
BodyDef bd = new BodyDef();
bd.Type = BodyType.Dynamic;
bd.IsBullet = true;
bd.Position = new Vector2(-31.0f, 5.0f);
_bullet = BodyFactory.CreateFromDef(World, bd);
_bullet.AddFixture(fd);
_bullet.LinearVelocity = new Vector2(400.0f, 0.0f);
}
}
base.Keyboard(keyboard);
}
private ShapeEditingTest()
{
{
BodyDef bd = new BodyDef();
Body ground = BodyFactory.CreateFromDef(World, bd);
EdgeShape shape = new EdgeShape();
shape.SetTwoSided(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
ground.AddFixture(shape);
}
{
BodyDef bd = new BodyDef();
bd.Type = BodyType.Dynamic;
bd.Position = new Vector2(0.0f, 10.0f);
_body = BodyFactory.CreateFromDef(World, bd);
PolygonShape shape = new PolygonShape(10.0f);
shape.SetAsBox(4.0f, 4.0f, new Vector2(0.0f, 0.0f), 0.0f);
_fixture1 = _body.AddFixture(shape);
_fixture2 = null;
_sensor = false;
}
}
private Body AddNode(Body parent, Vector2 localAnchor, int depth, float offset, float a)
{
float density = 20.0f;
Vector2 h = new Vector2(0.0f, a);
Vector2 p = parent.Position + localAnchor - h;
BodyDef bodyDef = new BodyDef();
bodyDef.Type = BodyType.Dynamic;
bodyDef.Position = p;
Body body = BodyFactory.CreateFromDef(World, bodyDef);
PolygonShape shape = new PolygonShape(density);
shape.SetAsBox(0.25f * a, a);
body.AddFixture(shape);
if (depth == _depth)
{
return(body);
}
shape.SetAsBox(offset, 0.25f * a, new Vector2(0, -a), 0.0f);
body.AddFixture(shape);
Vector2 a1 = new Vector2(offset, -a);
Vector2 a2 = new Vector2(-offset, -a);
Body body1 = AddNode(body, a1, depth + 1, 0.5f * offset, a);
Body body2 = AddNode(body, a2, depth + 1, 0.5f * offset, a);
RevoluteJointDef jointDef = new RevoluteJointDef();
jointDef.BodyA = body;
jointDef.LocalAnchorB = h;
jointDef.LocalAnchorA = a1;
jointDef.BodyB = body1;
JointFactory.CreateFromDef(World, jointDef);
jointDef.LocalAnchorA = a2;
jointDef.BodyB = body2;
JointFactory.CreateFromDef(World, jointDef);
return(body);
}
//Contributed by Matthew Bettcher
/// <summary>Convert a path into a set of edges and attaches them to the specified body. Note: use only for static edges.</summary>
/// <param name="path">The path.</param>
/// <param name="body">The body.</param>
/// <param name="subdivisions">The subdivisions.</param>
public static void ConvertPathToEdges(Path path, Body body, int subdivisions)
{
Vertices verts = path.GetVertices(subdivisions);
if (path.Closed)
{
ChainShape chain = new ChainShape(verts, true);
body.AddFixture(chain);
}
else
{
for (int i = 1; i < verts.Count; i++)
{
body.AddFixture(new EdgeShape(verts[i], verts[i - 1]));
}
}
}
public static Fixture AttachLoopShape(Vertices vertices, Body body, object?userData = null)
{
ChainShape shape = new ChainShape(vertices, true);
Fixture f = body.AddFixture(shape);
f.UserData = userData;
return(f);
}
public static Fixture AttachEdge(Vector2 start, Vector2 end, Body body, object?userData = null)
{
EdgeShape edgeShape = new EdgeShape(start, end);
Fixture f = body.AddFixture(edgeShape);
f.UserData = userData;
return(f);
}
private PolygonShapesTest()
{
// Ground body
{
BodyDef bd = new BodyDef();
Body ground = BodyFactory.CreateFromDef(World, bd);
EdgeShape shape = new EdgeShape();
shape.SetTwoSided(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
ground.AddFixture(shape);
}
{
Vertices vertices = new Vertices(3);
vertices.Add(new Vector2(-0.5f, 0.0f));
vertices.Add(new Vector2(0.5f, 0.0f));
vertices.Add(new Vector2(0.0f, 1.5f));
_polygons[0] = new PolygonShape(vertices, 1.0f);
}
{
Vertices vertices = new Vertices(3);
vertices.Add(new Vector2(-0.1f, 0.0f));
vertices.Add(new Vector2(0.1f, 0.0f));
vertices.Add(new Vector2(0.0f, 1.5f));
_polygons[1] = new PolygonShape(vertices, 1.0f);
}
{
float w = 1.0f;
float b = w / (2.0f + MathUtils.Sqrt(2.0f));
float s = MathUtils.Sqrt(2.0f) * b;
Vertices vertices = new Vertices(8);
vertices.Add(new Vector2(0.5f * s, 0.0f));
vertices.Add(new Vector2(0.5f * w, b));
vertices.Add(new Vector2(0.5f * w, b + s));
vertices.Add(new Vector2(0.5f * s, w));
vertices.Add(new Vector2(-0.5f * s, w));
vertices.Add(new Vector2(-0.5f * w, b + s));
vertices.Add(new Vector2(-0.5f * w, b));
vertices.Add(new Vector2(-0.5f * s, 0.0f));
_polygons[2] = new PolygonShape(vertices, 1.0f);
}
{
_polygons[3] = new PolygonShape(1.0f);
_polygons[3].SetAsBox(0.5f, 0.5f);
}
{
_circle = new CircleShape(1.0f);
_circle.Radius = 0.5f;
}
_bodyIndex = 0;
}
public static Fixture AttachRectangle(float width, float height, float density, Vector2 offset, Body body, object?userData = null)
{
Vertices rectangleVertices = PolygonUtils.CreateRectangle(width / 2, height / 2);
rectangleVertices.Translate(ref offset);
PolygonShape rectangleShape = new PolygonShape(rectangleVertices, density);
Fixture f = body.AddFixture(rectangleShape);
f.UserData = userData;
return(f);
}
private PathTest()
{
//Single body that moves around path
_movingBody = BodyFactory.CreateBody(World);
_movingBody.Position = new Vector2(-25, 25);
_movingBody.BodyType = BodyType.Dynamic;
_movingBody.AddFixture(new PolygonShape(PolygonUtils.CreateRectangle(0.5f, 0.5f), 1));
//Static shape made up of bodies
_path = new Path();
_path.Add(new Vector2(0, 20));
_path.Add(new Vector2(5, 15));
_path.Add(new Vector2(20, 18));
_path.Add(new Vector2(15, 1));
_path.Add(new Vector2(-5, 14));
_path.Closed = true;
CircleShape shape = new CircleShape(0.25f, 1);
PathManager.EvenlyDistributeShapesAlongPath(World, _path, shape, BodyType.Static, 100);
//Smaller shape that is movable. Created from small rectangles and circles.
Vector2 xform = new Vector2(0.5f, 0.5f);
_path.Scale(ref xform);
xform = new Vector2(5, 5);
_path.Translate(ref xform);
List <Shape> shapes = new List <Shape>(2);
shapes.Add(new PolygonShape(PolygonUtils.CreateRectangle(0.5f, 0.5f, new Vector2(-0.1f, 0), 0), 1));
shapes.Add(new CircleShape(0.5f, 1));
List <Body> bodies = PathManager.EvenlyDistributeShapesAlongPath(World, _path, shapes, BodyType.Dynamic, 20);
//Attach the bodies together with revolute joints
PathManager.AttachBodiesWithRevoluteJoint(World, bodies, new Vector2(0, 0.5f), new Vector2(0, -0.5f), true, true);
xform = new Vector2(-25, 0);
_path.Translate(ref xform);
Body body = BodyFactory.CreateBody(World);
body.BodyType = BodyType.Static;
//Static shape made up of edges
PathManager.ConvertPathToEdges(_path, body, 25);
body.Position -= new Vector2(0, 10);
xform = new Vector2(0, 15);
_path.Translate(ref xform);
PathManager.ConvertPathToPolygon(_path, body, 1, 50);
}
public static List <Fixture> AttachCompoundPolygon(List <Vertices> list, float density, Body body)
{
List <Fixture> res = new List <Fixture>(list.Count);
//Then we create several fixtures using the body
foreach (Vertices vertices in list)
{
if (vertices.Count == 2)
{
EdgeShape shape = new EdgeShape(vertices[0], vertices[1]);
res.Add(body.AddFixture(shape));
}
else
{
PolygonShape shape = new PolygonShape(vertices, density);
res.Add(body.AddFixture(shape));
}
}
return(res);
}
private TumblerTest()
{
Body ground;
{
BodyDef bd = new BodyDef();
ground = BodyFactory.CreateFromDef(World, bd);
}
{
BodyDef bd = new BodyDef();
bd.Type = BodyType.Dynamic;
bd.AllowSleep = false;
bd.Position = new Vector2(0.0f, 10.0f);
Body body = BodyFactory.CreateFromDef(World, bd);
PolygonShape shape = new PolygonShape(5.0f);
shape.SetAsBox(0.5f, 10.0f, new Vector2(10.0f, 0.0f), 0.0f);
body.AddFixture(shape);
shape.SetAsBox(0.5f, 10.0f, new Vector2(-10.0f, 0.0f), 0.0f);
body.AddFixture(shape);
shape.SetAsBox(10.0f, 0.5f, new Vector2(0.0f, 10.0f), 0.0f);
body.AddFixture(shape);
shape.SetAsBox(10.0f, 0.5f, new Vector2(0.0f, -10.0f), 0.0f);
body.AddFixture(shape);
RevoluteJointDef jd = new RevoluteJointDef();
jd.BodyA = ground;
jd.BodyB = body;
jd.LocalAnchorA = new Vector2(0.0f, 10.0f);
jd.LocalAnchorB = new Vector2(0.0f, 0.0f);
jd.ReferenceAngle = 0.0f;
jd.MotorSpeed = 0.05f * MathConstants.Pi;
jd.MaxMotorTorque = 1e8f;
jd.EnableMotor = true;
_joint = (RevoluteJoint)JointFactory.CreateFromDef(World, jd);
}
_count2 = 0;
}
private BulletTest()
{
{
BodyDef bd = new BodyDef();
bd.Position = new Vector2(0.0f, 0.0f);
Body body = BodyFactory.CreateFromDef(World, bd);
EdgeShape edge = new EdgeShape(new Vector2(-10.0f, 0.0f), new Vector2(10.0f, 0.0f));
body.AddFixture(edge);
PolygonShape shape = new PolygonShape(0.0f);
shape.SetAsBox(0.2f, 1.0f, new Vector2(0.5f, 1.0f), 0.0f);
body.AddFixture(shape);
}
{
BodyDef bd = new BodyDef();
bd.Type = BodyType.Dynamic;
bd.Position = new Vector2(0.0f, 4.0f);
PolygonShape box = new PolygonShape(1.0f);
box.SetAsBox(2.0f, 0.1f);
_body = BodyFactory.CreateFromDef(World, bd);
_body.AddFixture(box);
box.SetAsBox(0.25f, 0.25f);
_x = 0.20352793f;
bd.Position = new Vector2(_x, 10.0f);
bd.IsBullet = true;
box.Density = 100;
_bullet = BodyFactory.CreateFromDef(World, bd);
_bullet.AddFixture(box);
_bullet.LinearVelocity = new Vector2(0.0f, -50.0f);
}
}
public static Fixture AttachPolygon(Vertices vertices, float density, Body body, object?userData = null)
{
if (vertices.Count <= 1)
{
throw new ArgumentOutOfRangeException(nameof(vertices), "Too few points to be a polygon");
}
PolygonShape polygon = new PolygonShape(vertices, density);
Fixture f = body.AddFixture(polygon);
f.UserData = userData;
return(f);
}
public static Fixture AttachCircle(float radius, float density, Body body, object?userData = null)
{
if (radius <= 0)
{
throw new ArgumentOutOfRangeException(nameof(radius), "Radius must be more than 0 meters");
}
CircleShape circleShape = new CircleShape(radius, density);
Fixture f = body.AddFixture(circleShape);
f.UserData = userData;
return(f);
}
private WheelJointTest()
{
Body ground;
{
BodyDef bd = new BodyDef();
ground = BodyFactory.CreateFromDef(World, bd);
EdgeShape shape = new EdgeShape();
shape.SetTwoSided(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
ground.AddFixture(shape);
}
_enableLimit = true;
_enableMotor = false;
_motorSpeed = 10.0f;
{
CircleShape shape = new CircleShape(5.0f);
shape.Radius = 2.0f;
BodyDef bd = new BodyDef();
bd.Type = BodyType.Dynamic;
bd.Position = new Vector2(0.0f, 10.0f);
bd.AllowSleep = false;
Body body = BodyFactory.CreateFromDef(World, bd);
body.AddFixture(shape);
WheelJointDef jd = new WheelJointDef();
// Horizontal
jd.Initialize(ground, body, bd.Position, new Vector2(0.0f, 1.0f));
jd.MotorSpeed = _motorSpeed;
jd.MaxMotorTorque = 10000.0f;
jd.EnableMotor = _enableMotor;
jd.LowerTranslation = -3.0f;
jd.UpperTranslation = 3.0f;
jd.EnableLimit = _enableLimit;
float hertz = 1.0f;
float dampingRatio = 0.7f;
JointHelper.LinearStiffness(hertz, dampingRatio, ground, body, out float stiffness, out float damping);
jd.Stiffness = stiffness;
jd.Damping = damping;
_joint = (WheelJoint)JointFactory.CreateFromDef(World, jd);
}
}
private PulleyJointTest()
{
float y = 16.0f;
float L = 12.0f;
float a = 1.0f;
float b = 2.0f;
Body ground;
{
BodyDef bd = new BodyDef();
ground = BodyFactory.CreateFromDef(World, bd);
CircleShape circle = new CircleShape(0.0f);
circle.Radius = 2.0f;
circle.Position = new Vector2(-10.0f, y + b + L);
ground.AddFixture(circle);
circle.Position = new Vector2(10.0f, y + b + L);
ground.AddFixture(circle);
}
{
PolygonShape shape = new PolygonShape(5.0f);
shape.SetAsBox(a, b);
BodyDef bd = new BodyDef();
bd.Type = BodyType.Dynamic;
//bd.FixedRotation = true;
bd.Position = new Vector2(-10.0f, y);
Body body1 = BodyFactory.CreateFromDef(World, bd);
body1.AddFixture(shape);
bd.Position = new Vector2(10.0f, y);
Body body2 = BodyFactory.CreateFromDef(World, bd);
body2.AddFixture(shape);
PulleyJointDef pulleyDef = new PulleyJointDef();
Vector2 anchor1 = new Vector2(-10.0f, y + b);
Vector2 anchor2 = new Vector2(10.0f, y + b);
Vector2 groundAnchor1 = new Vector2(-10.0f, y + b + L);
Vector2 groundAnchor2 = new Vector2(10.0f, y + b + L);
pulleyDef.Initialize(body1, body2, groundAnchor1, groundAnchor2, anchor1, anchor2, 1.5f);
_joint1 = (PulleyJoint)JointFactory.CreateFromDef(World, pulleyDef);
}
}
/// <summary>Convert a closed path into a polygon. Convex decomposition is automatically performed.</summary>
/// <param name="path">The path.</param>
/// <param name="body">The body.</param>
/// <param name="density">The density.</param>
/// <param name="subdivisions">The subdivisions.</param>
public static void ConvertPathToPolygon(Path path, Body body, float density, int subdivisions)
{
if (!path.Closed)
{
throw new Exception("The path must be closed to convert to a polygon.");
}
List <Vector2> verts = path.GetVertices(subdivisions);
List <Vertices> decomposedVerts = Triangulate.ConvexPartition(new Vertices(verts), TriangulationAlgorithm.Bayazit);
foreach (Vertices item in decomposedVerts)
{
body.AddFixture(new PolygonShape(item, density));
}
}
public override void Update(GameSettings settings, GameTime gameTime)
{
base.Update(settings, gameTime);
if (_count2 < _eCount)
{
BodyDef bd = new BodyDef();
bd.Type = BodyType.Dynamic;
bd.Position = new Vector2(0.0f, 10.0f);
Body body = BodyFactory.CreateFromDef(World, bd);
PolygonShape shape = new PolygonShape(1.0f);
shape.SetAsBox(0.125f, 0.125f);
body.AddFixture(shape);
++_count2;
}
}
private PrismaticJointTest()
{
Body ground;
{
BodyDef bd = new BodyDef();
ground = BodyFactory.CreateFromDef(World, bd);
EdgeShape shape = new EdgeShape();
shape.SetTwoSided(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
ground.AddFixture(shape);
}
_enableLimit = true;
_enableMotor = false;
_motorSpeed = 10.0f;
{
PolygonShape shape = new PolygonShape(5.0f);
shape.SetAsBox(1.0f, 1.0f);
BodyDef bd = new BodyDef();
bd.Type = BodyType.Dynamic;
bd.Position = new Vector2(0.0f, 10.0f);
bd.Angle = 0.5f * MathConstants.Pi;
bd.AllowSleep = false;
Body body = BodyFactory.CreateFromDef(World, bd);
body.AddFixture(shape);
PrismaticJointDef pjd = new PrismaticJointDef();
// Horizontal
pjd.Initialize(ground, body, bd.Position, new Vector2(1.0f, 0.0f));
pjd.MotorSpeed = _motorSpeed;
pjd.MaxMotorForce = 10000.0f;
pjd.EnableMotor = _enableMotor;
pjd.LowerTranslation = -10.0f;
pjd.UpperTranslation = 10.0f;
pjd.EnableLimit = _enableLimit;
_joint = (PrismaticJoint)JointFactory.CreateFromDef(World, pjd);
}
}
