public override void initTest(bool deserialized)
{
if (deserialized)
{
return;
}
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = getWorld().createBody(bd);
EdgeShape shape = new EdgeShape();
shape.set(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.type = BodyType.DYNAMIC;
bd.position.set(-10.0f, 10.0f);
bd.angle = 0.5f*MathUtils.PI;
bd.allowSleep = false;
Body body = getWorld().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, Vec2(-10.0f, 10.0f), 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 = true;
m_joint = (PrismaticJoint) getWorld().createJoint(pjd);
}
}
public override void initTest(bool argDeserialized)
{
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = getWorld().createBody(bd);
EdgeShape shape = new EdgeShape();
shape.set(new Vec2(50.0f, 0.0f), new Vec2(-50.0f, 0.0f));
ground.createFixture(shape, 0.0f);
}
{
CircleShape circle1 = new CircleShape();
circle1.m_radius = 1.0f;
PolygonShape box = new PolygonShape();
box.setAsBox(0.5f, 5.0f);
CircleShape circle2 = new CircleShape();
circle2.m_radius = 2.0f;
BodyDef bd1 = new BodyDef();
bd1.type = BodyType.STATIC;
bd1.position.set(10.0f, 9.0f);
Body body1 = m_world.createBody(bd1);
body1.createFixture(circle1, 5.0f);
BodyDef bd2 = new BodyDef();
bd2.type = BodyType.DYNAMIC;
bd2.position.set(10.0f, 8.0f);
Body body2 = m_world.createBody(bd2);
body2.createFixture(box, 5.0f);
BodyDef bd3 = new BodyDef();
bd3.type = BodyType.DYNAMIC;
bd3.position.set(10.0f, 6.0f);
Body body3 = m_world.createBody(bd3);
body3.createFixture(circle2, 5.0f);
RevoluteJointDef jd1 = new RevoluteJointDef();
jd1.initialize(body2, body1, bd1.position);
Joint joint1 = m_world.createJoint(jd1);
RevoluteJointDef jd2 = new RevoluteJointDef();
jd2.initialize(body2, body3, bd3.position);
Joint joint2 = m_world.createJoint(jd2);
GearJointDef jd4 = new GearJointDef();
jd4.bodyA = body1;
jd4.bodyB = body3;
jd4.joint1 = joint1;
jd4.joint2 = joint2;
jd4.ratio = circle2.m_radius/circle1.m_radius;
m_world.createJoint(jd4);
}
{
CircleShape circle1 = new CircleShape();
circle1.m_radius = 1.0f;
CircleShape circle2 = new CircleShape();
circle2.m_radius = 2.0f;
PolygonShape box = new PolygonShape();
box.setAsBox(0.5f, 5.0f);
BodyDef bd1 = new BodyDef();
bd1.type = BodyType.DYNAMIC;
bd1.position.set(-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;
ground.getLocalPointToOut(bd1.position, ref jd1.localAnchorA);
body1.getLocalPointToOut(bd1.position, ref jd1.localAnchorB);
jd1.referenceAngle = body1.getAngle() - ground.getAngle();
m_joint1 = (RevoluteJoint) m_world.createJoint(jd1);
BodyDef bd2 = new BodyDef();
bd2.type = BodyType.DYNAMIC;
bd2.position.set(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.type = BodyType.DYNAMIC;
bd3.position.set(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.joint1 = m_joint1;
jd4.joint2 = m_joint2;
jd4.ratio = circle2.m_radius/circle1.m_radius;
m_joint4 = (GearJoint) m_world.createJoint(jd4);
GearJointDef jd5 = new GearJointDef();
jd5.bodyA = body2;
jd5.bodyB = body3;
jd5.joint1 = m_joint2;
jd5.joint2 = m_joint3;
jd5.ratio = 1f/circle2.m_radius;
m_joint5 = (GearJoint) m_world.createJoint(jd5);
}
}
internal PrismaticJoint(IWorldPool argWorld, PrismaticJointDef def)
: base(argWorld, def)
{
m_localAnchorA = new Vec2(def.localAnchorA);
m_localAnchorB = new Vec2(def.localAnchorB);
m_localXAxisA = new Vec2(def.localAxisA);
m_localXAxisA.normalize();
m_localYAxisA = new Vec2();
Vec2.crossToOutUnsafe(1f, m_localXAxisA, ref m_localYAxisA);
m_referenceAngle = def.referenceAngle;
m_impulse = new Vec3();
m_motorMass = 0.0f;
m_motorImpulse = 0.0f;
m_lowerTranslation = def.lowerTranslation;
m_upperTranslation = def.upperTranslation;
m_maxMotorForce = def.maxMotorForce;
m_motorSpeed = def.motorSpeed;
m_enableLimit = def.enableLimit;
m_enableMotor = def.enableMotor;
m_limitState = LimitState.INACTIVE;
m_K = new Mat33();
m_axis = new Vec2();
m_perp = new Vec2();
}
public override void initTest(bool deserialized)
{
if (deserialized)
{
return;
}
// 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 = getWorld().createBody(bd);
ground.createFixture(sd);
}
// Small triangle
Vec2[] vertices = new Vec2[3];
vertices[0] = new Vec2(-1.0f, 0.0f);
vertices[1] = new Vec2(1.0f, 0.0f);
vertices[2] = new Vec2(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.DYNAMIC;
triangleBodyDef.position.set(-5.0f, 2.0f);
Body body1 = getWorld().createBody(triangleBodyDef);
body1.createFixture(triangleShapeDef);
// Large triangle (recycle definitions)
vertices[0].mulLocal(2.0f);
vertices[1].mulLocal(2.0f);
vertices[2].mulLocal(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 = getWorld().createBody(triangleBodyDef);
body2.createFixture(triangleShapeDef);
{
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.position.set(-5.0f, 10.0f);
Body body = getWorld().createBody(bd);
PolygonShape p = new PolygonShape();
p.setAsBox(0.5f, 1.0f);
body.createFixture(p, 1.0f);
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;
getWorld().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.DYNAMIC;
boxBodyDef.position.set(0.0f, 2.0f);
Body body3 = getWorld().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 = getWorld().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.DYNAMIC;
circleBodyDef.position.set(5.0f, 2.0f);
Body body5 = getWorld().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 = getWorld().createBody(circleBodyDef);
body6.createFixture(circleShapeDef);
}
public override void initTest(bool deserialized)
{
m_speed = 3.0f;
if (deserialized)
{
return;
}
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = getWorld().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.DYNAMIC;
bd.position.set(0.0f, 3.0f);
m_attachment = getWorld().createBody(bd);
PolygonShape shape = new PolygonShape();
shape.setAsBox(0.5f, 2.0f);
m_attachment.createFixture(shape, 2.0f);
}
// Define platform
{
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.position.set(-4.0f, 5.0f);
m_platform = getWorld().createBody(bd);
PolygonShape shape = new PolygonShape();
shape.setAsBox(0.5f, 4.0f, new Vec2(4.0f, 0.0f), 0.5f*MathUtils.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;
getWorld().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;
getWorld().createJoint(pjd);
}
// .create a payload
{
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.position.set(0.0f, 8.0f);
Body body = getWorld().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);
}
}
public override void initTest(bool argDeserialized)
{
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = getWorld().createBody(bd);
EdgeShape shape = new EdgeShape();
shape.set(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.type = BodyType.DYNAMIC;
bd.position.set(0.0f, 7.0f);
Body body = getWorld().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*MathUtils.PI;
rjd.maxMotorTorque = 10000.0f;
rjd.enableMotor = true;
m_joint1 = (RevoluteJoint) getWorld().createJoint(rjd);
prevBody = body;
}
// Define follower.
{
PolygonShape shape = new PolygonShape();
shape.setAsBox(0.5f, 4.0f);
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.position.set(0.0f, 13.0f);
Body body = getWorld().createBody(bd);
body.createFixture(shape, 2.0f);
RevoluteJointDef rjd = new RevoluteJointDef();
rjd.initialize(prevBody, body, new Vec2(0.0f, 9.0f));
rjd.enableMotor = false;
getWorld().createJoint(rjd);
prevBody = body;
}
// Define piston
{
PolygonShape shape = new PolygonShape();
shape.setAsBox(1.5f, 1.5f);
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.fixedRotation = true;
bd.position.set(0.0f, 17.0f);
Body body = getWorld().createBody(bd);
body.createFixture(shape, 2.0f);
RevoluteJointDef rjd = new RevoluteJointDef();
rjd.initialize(prevBody, body, new Vec2(0.0f, 17.0f));
getWorld().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 = false;
m_joint2 = (PrismaticJoint) getWorld().createJoint(pjd);
}
// Create a payload
{
PolygonShape shape = new PolygonShape();
shape.setAsBox(1.5f, 1.5f);
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.position.set(0.0f, 23.0f);
Body body = getWorld().createBody(bd);
body.createFixture(shape, 2.0f);
}
}
}
public override void initTest(bool deserialized)
{
if (deserialized)
{
return;
}
World world = getWorld();
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = getWorld().createBody(bd);
PolygonShape shape = new PolygonShape();
shape.setAsBox(5.0f, 100.0f);
bd = new BodyDef();
bd.type = BodyType.STATIC;
FixtureDef sides = new FixtureDef();
sides.shape = shape;
sides.density = 0;
sides.friction = 0;
sides.restitution = .8f;
sides.filter.categoryBits = 4;
sides.filter.maskBits = 2;
bd.position.set(-10.01f, 50.0f);
Body bod = world.createBody(bd);
bod.createFixture(sides);
bd.position.set(10.01f, 50.0f);
bod = world.createBody(bd);
bod.createFixture(sides);
}
// turney
{
CircleShape cd;
FixtureDef fd = new FixtureDef();
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
int numPieces = 5;
float radius = 4f;
bd.position = new Vec2(0.0f, 25.0f);
Body body = getWorld().createBody(bd);
for (int i = 0; i < numPieces; i++)
{
cd = new CircleShape();
cd.m_radius = .5f;
fd.shape = cd;
fd.density = 25;
fd.friction = .1f;
fd.restitution = .9f;
float xPos = radius*(float) System.Math.Cos(2f*System.Math.PI*(i/(float) (numPieces)));
float yPos = radius*(float) System.Math.Sin(2f*System.Math.PI*(i/(float) (numPieces)));
cd.m_p.set(xPos, yPos);
body.createFixture(fd);
}
RevoluteJointDef rjd = new RevoluteJointDef();
rjd.initialize(body, getGroundBody(), body.getPosition());
rjd.motorSpeed = MathUtils.PI;
rjd.maxMotorTorque = 1000000.0f;
rjd.enableMotor = true;
getWorld().createJoint(rjd);
}
{
Body prevBody = ground;
// Define crank.
{
PolygonShape shape = new PolygonShape();
shape.setAsBox(0.5f, 2.0f);
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.position.set(0.0f, 7.0f);
Body body = getWorld().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*MathUtils.PI;
rjd.maxMotorTorque = 20000;
rjd.enableMotor = true;
getWorld().createJoint(rjd);
prevBody = body;
}
// Define follower.
{
PolygonShape shape = new PolygonShape();
shape.setAsBox(0.5f, 4.0f);
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.position.set(0.0f, 13.0f);
Body body = getWorld().createBody(bd);
body.createFixture(shape, 2.0f);
RevoluteJointDef rjd = new RevoluteJointDef();
rjd.initialize(prevBody, body, new Vec2(0.0f, 9.0f));
rjd.enableMotor = false;
getWorld().createJoint(rjd);
prevBody = body;
}
// Define piston
{
PolygonShape shape = new PolygonShape();
shape.setAsBox(7f, 2f);
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.position.set(0.0f, 17.0f);
Body body = getWorld().createBody(bd);
FixtureDef piston = new FixtureDef();
piston.shape = shape;
piston.density = 2;
piston.filter.categoryBits = 1;
piston.filter.maskBits = 2;
body.createFixture(piston);
body.setBullet(false);
RevoluteJointDef rjd = new RevoluteJointDef();
rjd.initialize(prevBody, body, new Vec2(0.0f, 17.0f));
getWorld().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;
getWorld().createJoint(pjd);
}
// Create a payload
{
PolygonShape sd = new PolygonShape();
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
FixtureDef fixture = new FixtureDef();
Body body;
for (int i = 0; i < 100; ++i)
{
sd.setAsBox(0.4f, 0.3f);
bd.position.set(-1.0f, 23.0f + i);
bd.bullet = bullet;
body = world.createBody(bd);
fixture.shape = sd;
fixture.density = .1f;
fixture.filter.categoryBits = 2;
fixture.filter.maskBits = 1 | 4 | 2;
body.createFixture(fixture);
}
CircleShape cd = new CircleShape();
cd.m_radius = 0.36f;
for (int i = 0; i < 100; ++i)
{
bd.position.set(1.0f, 23.0f + i);
bd.bullet = bullet;
fixture.shape = cd;
fixture.density = 2f;
fixture.filter.categoryBits = 2;
fixture.filter.maskBits = 1 | 4 | 2;
body = world.createBody(bd);
body.createFixture(fixture);
}
float angle = 0.0f;
float delta = MathUtils.PI/3.0f;
Vec2[] vertices = new Vec2[6];
for (int i = 0; i < 6; ++i)
{
vertices[i] = new Vec2(0.3f*MathUtils.cos(angle), 0.3f*MathUtils.sin(angle));
angle += delta;
}
PolygonShape shape = new PolygonShape();
shape.set(vertices, 6);
for (int i = 0; i < 100; ++i)
{
bd.position.set(0f, 23.0f + i);
bd.type = BodyType.DYNAMIC;
bd.fixedRotation = true;
bd.bullet = bullet;
fixture.shape = shape;
fixture.density = 1f;
fixture.filter.categoryBits = 2;
fixture.filter.maskBits = 1 | 4 | 2;
body = world.createBody(bd);
body.createFixture(fixture);
}
}
}
}
