public Prismatic()
{
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = m_world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(2.0f, 0.5f);
BodyDef bd = new BodyDef();
bd.BodyType = BodyType.Dynamic;
bd.Position = new Vec2(-10.0f, 10.0f);
bd.Angle = 0.5f * (float)Math.PI;
bd.AllowSleep = false;
Body body = m_world.CreateBody(bd);
body.CreateFixture(shape, 5.0f);
PrismaticJointDef pjd = new PrismaticJointDef();
// Bouncy limit
Vec2 axis = new Vec2(2.0f, 1.0f);
axis.Normalize();
pjd.Initialize(ground, body, new Vec2(0.0f, 0.0f), axis);
// Non-bouncy limit
//pjd.Initialize(ground, body, new Vec2(-10.0f, 10.0f), new Vec2(1.0f, 0.0f));
pjd.MotorSpeed = 10.0f;
pjd.MaxMotorForce = 10000.0f;
pjd.EnableMotor = true;
pjd.LowerTranslation = 0.0f;
pjd.UpperTranslation = 20.0f;
pjd.EnableLimit = false;
m_joint = (PrismaticJoint)m_world.CreateJoint(pjd);
}
}
public Gears()
{
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = m_world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vec2(50.0f, 0.0f), new Vec2(-50.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
{
CircleShape circle1 = new CircleShape();
circle1.Radius = 1.0f;
CircleShape circle2 = new CircleShape();
circle2.Radius = 2.0f;
PolygonShape box = new PolygonShape();
box.SetAsBox(0.5f, 5.0f);
BodyDef bd1 = new BodyDef();
bd1.BodyType = BodyType.Dynamic;
bd1.Position = new Vec2(-3.0f, 12.0f);
Body body1 = m_world.CreateBody(bd1);
body1.CreateFixture(circle1, 5.0f);
RevoluteJointDef jd1 = new RevoluteJointDef();
jd1.BodyA = ground;
jd1.BodyB = body1;
jd1.LocalAnchorA = ground.GetLocalPoint(bd1.Position);
jd1.LocalAnchorB = body1.GetLocalPoint(bd1.Position);
jd1.ReferenceAngle = body1.Angle - ground.Angle;
m_joint1 = (RevoluteJoint)m_world.CreateJoint(jd1);
BodyDef bd2 = new BodyDef();
bd2.BodyType = BodyType.Dynamic;
bd2.Position = new Vec2(0.0f, 12.0f);
Body body2 = m_world.CreateBody(bd2);
body2.CreateFixture(circle2, 5.0f);
RevoluteJointDef jd2 = new RevoluteJointDef();
jd2.Initialize(ground, body2, bd2.Position);
m_joint2 = (RevoluteJoint)m_world.CreateJoint(jd2);
BodyDef bd3 = new BodyDef();
bd3.BodyType = BodyType.Dynamic;
bd3.Position = new Vec2(2.5f, 12.0f);
Body body3 = m_world.CreateBody(bd3);
body3.CreateFixture(box, 5.0f);
PrismaticJointDef jd3 = new PrismaticJointDef();
jd3.Initialize(ground, body3, bd3.Position, new Vec2(0.0f, 1.0f));
jd3.LowerTranslation = -5.0f;
jd3.UpperTranslation = 5.0f;
jd3.EnableLimit = true;
m_joint3 = (PrismaticJoint)m_world.CreateJoint(jd3);
GearJointDef jd4 = new GearJointDef();
jd4.BodyA = body1;
jd4.BodyB = body2;
jd4.JointA = m_joint1;
jd4.JointB = m_joint2;
jd4.Ratio = circle2.Radius / circle1.Radius;
m_joint4 = (GearJoint)m_world.CreateJoint(jd4);
GearJointDef jd5 = new GearJointDef();
jd5.BodyA = body2;
jd5.BodyB = body3;
jd5.JointA = m_joint2;
jd5.JointB = m_joint3;
jd5.Ratio = -1.0f / circle2.Radius;
m_joint5 = (GearJoint)m_world.CreateJoint(jd5);
}
}
public SliderCrank()
{
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = m_world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
{
Body prevBody = ground;
// Define crank.
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.5f, 2.0f);
BodyDef bd = new BodyDef();
bd.BodyType = BodyType.Dynamic;
bd.Position = new Vec2(0.0f, 7.0f);
Body body = m_world.CreateBody(bd);
body.CreateFixture(shape, 2.0f);
RevoluteJointDef rjd = new RevoluteJointDef();
rjd.Initialize(prevBody, body, new Vec2(0.0f, 5.0f));
rjd.MotorSpeed = 1.0f * (float)Math.PI;
rjd.MaxMotorTorque = 10000.0f;
rjd.EnableMotor = true;
m_joint1 = (RevoluteJoint)m_world.CreateJoint(rjd);
prevBody = body;
}
// Define follower.
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.5f, 4.0f);
BodyDef bd = new BodyDef();
bd.BodyType = BodyType.Dynamic;
bd.Position = new Vec2(0.0f, 13.0f);
Body body = m_world.CreateBody(bd);
body.CreateFixture(shape, 2.0f);
RevoluteJointDef rjd = new RevoluteJointDef();
rjd.Initialize(prevBody, body, new Vec2(0.0f, 9.0f));
rjd.EnableMotor = false;
m_world.CreateJoint(rjd);
prevBody = body;
}
// Define piston
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(1.5f, 1.5f);
BodyDef bd = new BodyDef();
bd.BodyType = BodyType.Dynamic;
bd.Position = new Vec2(0.0f, 17.0f);
Body body = m_world.CreateBody(bd);
body.CreateFixture(shape, 2.0f);
RevoluteJointDef rjd = new RevoluteJointDef();
rjd.Initialize(prevBody, body, new Vec2(0.0f, 17.0f));
m_world.CreateJoint(rjd);
PrismaticJointDef pjd = new PrismaticJointDef();
pjd.Initialize(ground, body, new Vec2(0.0f, 17.0f), new Vec2(0.0f, 1.0f));
pjd.MaxMotorForce = 1000.0f;
pjd.EnableMotor = true;
m_joint2 = (PrismaticJoint)m_world.CreateJoint(pjd);
}
// Create a payload
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(1.5f, 1.5f);
BodyDef bd = new BodyDef();
bd.BodyType = BodyType.Dynamic;
bd.Position = new Vec2(0.0f, 23.0f);
Body body = m_world.CreateBody(bd);
body.CreateFixture(shape, 2.0f);
}
}
}
