static void Main(string[] args)
{
// Static Body
Vec2 gravity = new Vec2(0, -10);
bool doSleep = true;
World world = new World(gravity);
world.SleepingAllowed = doSleep;
BodyDef groundBodyDef = new BodyDef();
groundBodyDef.position.set_Renamed(0, -10);
Body groundBody = world.createBody(groundBodyDef);
PolygonShape groundBox = new PolygonShape();
groundBox.setAsBox(50, 10);
groundBody.createFixture(groundBox, 0);
// Dynamic Body
BodyDef bodyDef = new BodyDef();
bodyDef.type = BodyType.DYNAMIC;
bodyDef.position.set_Renamed(0, 4);
Body body = world.createBody(bodyDef);
PolygonShape dynamicBox = new PolygonShape();
dynamicBox.setAsBox(1, 1);
FixtureDef fixtureDef = new FixtureDef();
fixtureDef.shape = dynamicBox;
fixtureDef.density = 1;
fixtureDef.friction = 0.3f;
body.createFixture(fixtureDef);
// Setup world
float timeStep = 1.0f / 60.0f;
int velocityIterations = 6;
int positionIterations = 2;
// Run loop
for (int i = 0; i < 60; ++i)
{
world.step(timeStep, velocityIterations, positionIterations);
Vec2 position = body.Position;
float angle = body.Angle;
Console.WriteLine("{0:0.00} {1:0.00} {2:0.00}", position.x, position.y, angle);
}
}
/// <summary>
/// create a rigid body given a definition. No reference to the definition is retained.
/// </summary>
/// <warning>This function is locked during callbacks.</warning>
/// <param name="def"></param>
/// <returns></returns>
public virtual Body createBody(BodyDef def)
{
Debug.Assert(Locked == false);
if (Locked)
{
return null;
}
// TODO djm pooling
Body b = new Body(def, this);
// add to world doubly linked list
b.m_prev = null;
b.m_next = m_bodyList;
if (m_bodyList != null)
{
m_bodyList.m_prev = b;
}
m_bodyList = b;
++m_bodyCount;
return b;
}
public Body(BodyDef bd, World world)
{
Debug.Assert(bd.position.Valid);
Debug.Assert(bd.linearVelocity.Valid);
Debug.Assert(bd.gravityScale >= 0.0f);
Debug.Assert(bd.angularDamping >= 0.0f);
Debug.Assert(bd.linearDamping >= 0.0f);
m_flags = 0;
if (bd.bullet)
{
m_flags |= e_bulletFlag;
}
if (bd.fixedRotation)
{
m_flags |= e_fixedRotationFlag;
}
if (bd.allowSleep)
{
m_flags |= e_autoSleepFlag;
}
if (bd.awake)
{
m_flags |= e_awakeFlag;
}
if (bd.active)
{
m_flags |= e_activeFlag;
}
m_world = world;
m_xf.p.set_Renamed(bd.position);
m_xf.q.set_Renamed(bd.angle);
m_sweep.localCenter.setZero();
m_sweep.c0.set_Renamed(m_xf.p);
m_sweep.c.set_Renamed(m_xf.p);
m_sweep.a0 = bd.angle;
m_sweep.a = bd.angle;
m_sweep.alpha0 = 0.0f;
m_jointList = null;
m_contactList = null;
m_prev = null;
m_next = null;
m_linearVelocity.set_Renamed(bd.linearVelocity);
m_angularVelocity = bd.angularVelocity;
m_linearDamping = bd.linearDamping;
m_angularDamping = bd.angularDamping;
m_gravityScale = bd.gravityScale;
m_force.setZero();
m_torque = 0.0f;
m_sleepTime = 0.0f;
m_type = bd.type;
if (m_type == BodyType.DYNAMIC)
{
m_mass = 1f;
m_invMass = 1f;
}
else
{
m_mass = 0f;
m_invMass = 0f;
}
m_I = 0.0f;
m_invI = 0.0f;
m_userData = bd.userData;
m_fixtureList = null;
m_fixtureCount = 0;
}
/// <summary>
/// create a rigid body given a definition. No reference to the definition is retained.
/// </summary>
/// <warning>This function is locked during callbacks.</warning>
/// <param name="def"></param>
/// <returns></returns>
public Body CreateBody(BodyDef def)
{
Debug.Assert(Locked == false);
if (Locked)
{
return null;
}
// TODO djm pooling
Body b = new Body(def, this);
// add to world doubly linked list
b.Prev = null;
b.Next = BodyList;
if (BodyList != null)
{
BodyList.Prev = b;
}
BodyList = b;
++BodyCount;
return b;
}
public Body(BodyDef bd, World world)
{
Debug.Assert(bd.Position.Valid);
Debug.Assert(bd.LinearVelocity.Valid);
Debug.Assert(bd.GravityScale >= 0.0f);
Debug.Assert(bd.AngularDamping >= 0.0f);
Debug.Assert(bd.LinearDamping >= 0.0f);
Flags = TypeFlags.None;
if (bd.Bullet)
{
Flags |= TypeFlags.Bullet;
}
if (bd.FixedRotation)
{
Flags |= TypeFlags.FixedRotation;
}
if (bd.AllowSleep)
{
Flags |= TypeFlags.AutoSleep;
}
if (bd.Awake)
{
Flags |= TypeFlags.Awake;
}
if (bd.Active)
{
Flags |= TypeFlags.Active;
}
World = world;
Xf.P.Set(bd.Position);
Xf.Q.Set(bd.Angle);
Sweep.LocalCenter.SetZero();
Sweep.C0.Set(Xf.P);
Sweep.C.Set(Xf.P);
Sweep.A0 = bd.Angle;
Sweep.A = bd.Angle;
Sweep.Alpha0 = 0.0f;
JointList = null;
ContactList = null;
Prev = null;
Next = null;
m_linearVelocity.Set(bd.LinearVelocity);
m_angularVelocity = bd.AngularVelocity;
LinearDamping = bd.LinearDamping;
AngularDamping = bd.AngularDamping;
GravityScale = bd.GravityScale;
Force.SetZero();
Torque = 0.0f;
SleepTime = 0.0f;
m_type = bd.Type;
if (m_type == BodyType.Dynamic)
{
Mass = 1f;
InvMass = 1f;
}
else
{
Mass = 0f;
InvMass = 0f;
}
I = 0.0f;
InvI = 0.0f;
UserData = bd.UserData;
FixtureList = null;
FixtureCount = 0;
}
private void InitializeWorld()
{
// Static Body
Vec2 gravity = new Vec2(0, -10);
bool doSleep = true;
world = new World(gravity);
world.SleepingAllowed = doSleep;
BodyDef groundBodyDef = new BodyDef();
groundBodyDef.Position.Set(0, -10);
Body groundBody = world.CreateBody(groundBodyDef);
PolygonShape groundBox = new PolygonShape();
groundBox.SetAsBox(50, 10);
groundBody.CreateFixture(groundBox, 0);
{
// Dynamic Body
BodyDef bodyDef = new BodyDef();
bodyDef.Type = BodyType.Dynamic;
bodyDef.Position.Set(5, 4);
bodyDef.Angle = (float)(2 * Math.PI / 3);
Body body = world.CreateBody(bodyDef);
PolygonShape dynamicBox = new PolygonShape();
dynamicBox.SetAsBox(1, 1);
FixtureDef fixtureDef = new FixtureDef();
fixtureDef.Shape = dynamicBox;
fixtureDef.Density = 1;
fixtureDef.Friction = 0.3f;
body.CreateFixture(fixtureDef);
Bodies.Add(new BodyAdapter(body));
}
{
// Dynamic Body
BodyDef bodyDef = new BodyDef();
bodyDef.Type = BodyType.Dynamic;
bodyDef.Position.Set(5, 10);
bodyDef.Angle = (float)(Math.PI / 3);
Body body = world.CreateBody(bodyDef);
PolygonShape dynamicBox = new PolygonShape();
dynamicBox.SetAsBox(1, 1);
FixtureDef fixtureDef = new FixtureDef();
fixtureDef.Shape = dynamicBox;
fixtureDef.Density = 1;
fixtureDef.Friction = 0.3f;
body.CreateFixture(fixtureDef);
Bodies.Add(new BodyAdapter(body));
}
{
// Dynamic Body
BodyDef bodyDef = new BodyDef();
bodyDef.Type = BodyType.Dynamic;
bodyDef.Position.Set(4.5f, 7);
bodyDef.AngularVelocity = (float)(2 * Math.PI);
Body body = world.CreateBody(bodyDef);
PolygonShape dynamicBox = new PolygonShape();
dynamicBox.SetAsBox(1, 1);
FixtureDef fixtureDef = new FixtureDef();
fixtureDef.Shape = dynamicBox;
fixtureDef.Density = 1;
fixtureDef.Friction = 0.3f;
body.CreateFixture(fixtureDef);
Bodies.Add(new BodyAdapter(body));
}
}