public MovingJoint() { var capeFixture = new FixtureDef(new PolygonShape(0.08f, 0.4f, (float)(Math.PI)), 0.2f); var capeBody = new BodyDef(BodyType.Dynamic, new Vec2(0, 10)); Body testbody = m_world.CreateBody(capeBody); testbody.CreateFixture(capeFixture); staticBody = m_world.CreateBody(new BodyDef(BodyType.Static, testbody.WorldCenter + new Vec2(-0.08f / 25, 0.4f))); staticBody.CreateFixture(new CircleShape(0.15f), 0); { RevoluteJointDef rjd = new RevoluteJointDef(); rjd.Initialize(testbody, staticBody, testbody.WorldCenter + new Vec2(0.0f, 0.4f)); joint = (RevoluteJoint)m_world.CreateJoint(rjd); } // build cape Body lastBody = testbody; for (int i = 0; i < 8; ++i) { capeBody.Position = new Vec2(capeBody.Position.X, capeBody.Position.Y - 0.8f); var nextBody = m_world.CreateBody(capeBody); nextBody.CreateFixture(capeFixture); var joint = new RevoluteJointDef(); joint.Initialize(lastBody, nextBody, nextBody.WorldCenter + new Vec2(0.0f, 0.4f)); m_world.CreateJoint(joint); lastBody = nextBody; } }
public Revolute() { System.Collections.Generic.List<JointDef> joints = new System.Collections.Generic.List<JointDef>(); 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); } { CircleShape shape = new CircleShape(); shape.Radius = 0.5f; BodyDef bd = new BodyDef(); bd.BodyType = BodyType.Dynamic; RevoluteJointDef rjd = new RevoluteJointDef(); bd.Position = new Vec2(0.0f, 20.0f); Body body = m_world.CreateBody(bd); body.CreateFixture(shape, 5.0f); float w = 100.0f; body.AngularVelocity = w; body.LinearVelocity = new Vec2(-8.0f * w, 0.0f); rjd.Initialize(ground, body, new Vec2(0.0f, 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); joints.Add(rjd); } using (System.IO.FileStream fs = new System.IO.FileStream("out.xml", System.IO.FileMode.Create)) { var serializer = Box2CS.Serialize.WorldSerializer.SerializeWorld(m_world, new Box2CS.Serialize.WorldXmlSerializer()); foreach (var j in joints) serializer.AddJoint(j); serializer.Serialize(fs); } }
public Car() { { // car body PolygonShape poly1 = new PolygonShape(), poly2 = new PolygonShape(); // bottom half poly1.Vertices = new Vec2[] { new Vec2(2.2f,-0.74f), new Vec2(2.2f,-0.2f), new Vec2(1.0f,0), new Vec2(-2.2f,0), new Vec2(-2.2f,-0.74f) }; FixtureDef fixture1 = new FixtureDef(); fixture1.Filter.GroupIndex = -1; fixture1.Shape = poly1; fixture1.Density = 20.0f; fixture1.Friction = 0.68f; // top half poly2.Vertices = new Vec2[] { new Vec2(1.0f,0), new Vec2(0.5f,0.74f), new Vec2(-1.3f,0.7f), new Vec2(-1.7f,0), }; FixtureDef fixture2 = new FixtureDef(); fixture2.Filter.GroupIndex = -1; fixture2.Shape = poly2; fixture2.Density = 5.0f; fixture2.Friction = 0.68f; BodyDef bd = new BodyDef(); bd.BodyType = BodyType.Dynamic; bd.Position = new Vec2(0, 0); m_vehicle = m_world.CreateBody(bd); m_vehicle.CreateFixture(fixture1); m_vehicle.CreateFixture(fixture2); } { // vehicle wheels CircleShape circ = new CircleShape(); circ.Radius = 0.58608f; FixtureDef wheelFix = new FixtureDef(); wheelFix.Shape = circ; wheelFix.Density = 40.0f; wheelFix.Friction = 0.8f; wheelFix.Filter.GroupIndex = -1; BodyDef bd = new BodyDef(); bd.BodyType = BodyType.Dynamic; bd.AllowSleep = false; bd.Position = new Vec2(1.2f, -0.8f); m_rightWheel = m_world.CreateBody(bd); m_rightWheel.CreateFixture(wheelFix); bd.Position = new Vec2(-1.2f, -0.8f); m_leftWheel = m_world.CreateBody(bd); m_leftWheel.CreateFixture(wheelFix); } { // join wheels to chassis RevoluteJointDef jd = new RevoluteJointDef(); jd.Initialize(m_vehicle, m_leftWheel, m_leftWheel.WorldCenter); jd.CollideConnected = false; jd.EnableMotor = true; jd.MaxMotorTorque = 10.0f; jd.MotorSpeed = 0.0f; m_leftJoint = (RevoluteJoint)m_world.CreateJoint(jd); jd.Initialize(m_vehicle, m_rightWheel, m_rightWheel.WorldCenter); jd.CollideConnected = false; m_rightJoint = (RevoluteJoint)m_world.CreateJoint(jd); } }
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 TheoJansen() { m_offset = new Vec2(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); PolygonShape shape = new PolygonShape(); shape.SetAsEdge(new Vec2(-50.0f, 0.0f), new Vec2(50.0f, 0.0f)); ground.CreateFixture(shape, 0.0f); shape.SetAsEdge(new Vec2(-50.0f, 0.0f), new Vec2(-50.0f, 10.0f)); ground.CreateFixture(shape, 0.0f); shape.SetAsEdge(new Vec2(50.0f, 0.0f), new Vec2(50.0f, 10.0f)); ground.CreateFixture(shape, 0.0f); const float groundHeight = 0.19f; const float groundHeight2 = groundHeight * 2; shape.SetAsBox(10, groundHeight, new Vec2(-14, (groundHeight / 2)), 0); ground.CreateFixture(shape, 0.0f); shape.SetAsBox(8, groundHeight, new Vec2(-14, (groundHeight / 2) + groundHeight2), 0); ground.CreateFixture(shape, 0.0f); shape.SetAsBox(6, groundHeight, new Vec2(-14, (groundHeight / 2) + groundHeight2 + groundHeight2), 0); ground.CreateFixture(shape, 0.0f); shape.SetAsBox(4, groundHeight, new Vec2(-14, (groundHeight / 2) + groundHeight2 + groundHeight2 + groundHeight2), 0); ground.CreateFixture(shape, 0.0f); shape.SetAsBox(2, groundHeight, new Vec2(-14, (groundHeight / 2) + groundHeight2 + groundHeight2 + groundHeight2 + groundHeight2), 0); ground.CreateFixture(shape, 0.0f); } // Balls for (int i = 0; i < 25; ++i) { CircleShape shape = new CircleShape(); shape.Radius = 0.25f; BodyDef bd = new BodyDef(); bd.BodyType = BodyType.Dynamic; bd.Position = new Vec2(-40.0f + 2.0f * i, 3f); Body body = m_world.CreateBody(bd); body.CreateFixture(shape, 1.0f); } // 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.BodyType = BodyType.Dynamic; bd.Position = pivot + m_offset; m_chassis = m_world.CreateBody(bd); m_chassis.CreateFixture(sd); } { CircleShape shape = new CircleShape(); shape.Radius = 1.6f; FixtureDef sd = new FixtureDef(); sd.Density = 1.0f; sd.Shape = shape; sd.Filter.GroupIndex = -1; BodyDef bd = new BodyDef(); bd.BodyType = BodyType.Dynamic; 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 = pivot + new Vec2(0.0f, -0.8f); CreateLeg(-1.0f, wheelAnchor); CreateLeg(1.0f, wheelAnchor); m_wheel.SetTransform(m_wheel.Position, 120.0f * (float)Math.PI / 180.0f); CreateLeg(-1.0f, wheelAnchor); CreateLeg(1.0f, wheelAnchor); m_wheel.SetTransform(m_wheel.Position, -120.0f * (float)Math.PI / 180.0f); CreateLeg(-1.0f, wheelAnchor); CreateLeg(1.0f, wheelAnchor); }
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); } } }