public override void initTest(bool deserialized)
{
if (deserialized)
{
return;
}
Body[] bodies = new Body[e_count];
{
BodyDef bd = new BodyDef();
Body 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);
}
{
CircleShape shape = new CircleShape();
shape.m_radius = 1.0f;
for (int i = 0; i < e_count; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.position.set(0.0f, 4.0f + 3.0f*i);
bodies[i] = getWorld().createBody(bd);
bodies[i].createFixture(shape, 1.0f);
// m_bodies[i].setLinearVelocity(new Vec2(0.0f, -100.0f));
}
}
}
public override long getTag(Body body)
{
if (body == m_body)
{
return BODY_TAG;
}
return base.getTag(body);
}
public override long getTag(Body body)
{
if (body == m_attachment)
return ATTACHMENT_TAG;
if (body == m_platform)
return PLATFORM_TAG;
return base.getTag(body);
}
public override long getTag(Body argBody)
{
if (argBody == m_character)
{
return CHARACTER_TAG;
}
return base.getTag(argBody);
}
public override long getTag(Body argBody)
{
if (argBody == m_bullet)
{
return BULLET_TAG;
}
return base.getTag(argBody);
}
public Fixture()
{
m_userData = null;
m_body = null;
m_next = null;
m_proxies = null;
m_proxyCount = 0;
m_shape = null;
m_filter = new Filter();
}
public override long getTag(Body argBody)
{
if (argBody == m_chassis)
{
return CHASSIS_TAG;
}
else if (argBody == m_wheel)
{
return WHEEL_TAG;
}
return default(long);
}
public override long getTag(Body body)
{
if (body == m_car)
{
return CAR_TAG;
}
if (body == m_wheel1)
{
return WHEEL1_TAG;
}
if (body == m_wheel2)
{
return WHEEL2_TAG;
}
return base.getTag(body);
}
public override void initTest(bool deserialized)
{
{
BodyDef bd = new BodyDef();
bd.position.set(0.0f, 0.0f);
Body body = m_world.createBody(bd);
EdgeShape edge = new EdgeShape();
edge.set(new Vec2(-10.0f, 0.0f), new Vec2(10.0f, 0.0f));
body.createFixture(edge, 0.0f);
PolygonShape shape = new PolygonShape();
shape.setAsBox(0.2f, 1.0f, new Vec2(0.5f, 1.0f), 0.0f);
body.createFixture(shape, 0.0f);
}
{
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.position.set(0.0f, 4.0f);
PolygonShape box = new PolygonShape();
box.setAsBox(2.0f, 0.1f);
m_body = m_world.createBody(bd);
m_body.createFixture(box, 1.0f);
box.setAsBox(0.25f, 0.25f);
// m_x = RandomFloat(-1.0f, 1.0f);
m_x = -0.06530577f;
bd.position.set(m_x, 10.0f);
bd.bullet = true;
m_bullet = m_world.createBody(bd);
m_bullet.createFixture(box, 100.0f);
m_bullet.setLinearVelocity(new Vec2(0.0f, -50.0f));
}
}
public override void initTest(bool argDeserialized)
{
{
BodyDef bd = new BodyDef();
Body 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);
}
BodyDef bd2 = new BodyDef();
bd2.type = BodyType.DYNAMIC;
bd2.position.set(0.0f, 10.0f);
m_body = getWorld().createBody(bd2);
PolygonShape shape2 = new PolygonShape();
shape2.setAsBox(4.0f, 4.0f, new Vec2(0.0f, 0.0f), 0.0f);
m_fixture1 = m_body.createFixture(shape2, 10.0f);
m_fixture2 = null;
}
// We need separation create/destroy functions from the constructor/destructor because
// the destructor cannot access the allocator (no destructor arguments allowed by C++).
public void create(Body body, FixtureDef def)
{
m_userData = def.userData;
m_friction = def.friction;
m_restitution = def.restitution;
m_body = body;
m_next = null;
m_filter.set(def.filter);
m_isSensor = def._isSensor;
m_shape = def.shape.clone();
// Reserve proxy space
int childCount = m_shape.getChildCount();
if (m_proxies == null)
{
m_proxies = new FixtureProxy[childCount];
for (int i = 0; i < childCount; i++)
{
m_proxies[i] = new FixtureProxy();
m_proxies[i].fixture = null;
m_proxies[i].proxyId = (int) BroadPhaseProxy.Null;
}
}
if (m_proxies.Length < childCount)
{
FixtureProxy[] old = m_proxies;
int newLen = MathUtils.max(old.Length*2, childCount);
m_proxies = new FixtureProxy[newLen];
Array.Copy(old, 0, m_proxies, 0, old.Length);
for (int i = 0; i < newLen; i++)
{
if (i >= old.Length)
{
m_proxies[i] = new FixtureProxy();
}
m_proxies[i].fixture = null;
m_proxies[i].proxyId = (int) BroadPhaseProxy.Null;
}
}
m_proxyCount = 0;
m_density = def.density;
}
/**
* This is used to prevent connected bodies from colliding. It may lie, depending on the
* collideConnected flag.
*
* @param other
* @return
*/
public bool shouldCollide(Body other)
{
// At least one body should be dynamic.
if (m_type != BodyType.DYNAMIC && other.m_type != BodyType.DYNAMIC)
{
return false;
}
// Does a joint prevent collision?
for (JointEdge jn = m_jointList; jn != null; jn = jn.next)
{
if (jn.other == other)
{
if (jn.joint.getCollideConnected() == false)
{
return false;
}
}
}
return true;
}
public Body(BodyDef bd, World world)
{
Debug.Assert(bd.position.isValid());
Debug.Assert(bd.linearVelocity.isValid());
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 |= BodyFlags.Bullet;
}
if (bd.fixedRotation)
{
m_flags |= BodyFlags.FixedRotation;
}
if (bd.allowSleep)
{
m_flags |= BodyFlags.AutoSleep;
}
if (bd.awake)
{
m_flags |= BodyFlags.Awake;
}
if (bd.active)
{
m_flags |= BodyFlags.Active;
}
m_world = world;
m_xf.p.set(bd.position);
m_xf.q.set(bd.angle);
m_sweep.localCenter.setZero();
m_sweep.c0.set(m_xf.p);
m_sweep.c.set(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(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;
}
public override void initTest(bool deserialized)
{
{
BodyDef bd = new BodyDef();
Body ground = m_world.createBody(bd);
{
PolygonShape shape = new PolygonShape();
Vec2[] vertices =
new Vec2[] {new Vec2(-40, -10), new Vec2(40, -10), new Vec2(40, 0), new Vec2(-40, 0)};
shape.set(vertices, 4);
ground.createFixture(shape, 0.0f);
}
{
PolygonShape shape = new PolygonShape();
Vec2[] vertices =
new Vec2[] {new Vec2(-40, -1), new Vec2(-20, -1), new Vec2(-20, 20), new Vec2(-40, 30)};
shape.set(vertices, 4);
ground.createFixture(shape, 0.0f);
}
{
PolygonShape shape = new PolygonShape();
Vec2[] vertices =
new Vec2[] {new Vec2(20, -1), new Vec2(40, -1), new Vec2(40, 30), new Vec2(20, 20)};
shape.set(vertices, 4);
ground.createFixture(shape, 0.0f);
}
}
m_world.setParticleRadius(0.2f);
{
PolygonShape shape = new PolygonShape();
shape.setAsBox(20, 10, new Vec2(0, 10), 0);
ParticleGroupDef pd = new ParticleGroupDef();
pd.flags = flags;
pd.shape = shape;
m_world.createParticleGroup(pd);
}
{
BodyDef bd = new BodyDef();
bd.type = BodyType.KINEMATIC;
Body body = m_world.createBody(bd);
circle = body;
CircleShape shape = new CircleShape();
shape.m_p.set(0, 5);
shape.m_radius = 1;
body.createFixture(shape, 0.1f);
body.setLinearVelocity(new Vec2(-6, 0.0f));
}
{
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
Body body = m_world.createBody(bd);
PolygonShape shape = new PolygonShape();
shape.setAsBox(1, 1, new Vec2(-10, 5), 0);
body.createFixture(shape, 0.1f);
}
{
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
Body body = m_world.createBody(bd);
PolygonShape shape = new PolygonShape();
shape.setAsBox(1, 1, new Vec2(10, 5), 0.5f);
body.createFixture(shape, 0.1f);
}
{
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
Body body = m_world.createBody(bd);
EdgeShape shape = new EdgeShape();
shape.set(new Vec2(0, 20), new Vec2(1, 21));
body.createFixture(shape, 0.1f);
}
{
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
Body body = m_world.createBody(bd);
EdgeShape shape = new EdgeShape();
shape.set(new Vec2(3, 20), new Vec2(4, 21));
body.createFixture(shape, 0.1f);
}
{
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
Body body = m_world.createBody(bd);
EdgeShape shape = new EdgeShape();
shape.set(new Vec2(-3, 21), new Vec2(-2, 20));
body.createFixture(shape, 0.1f);
}
}
public override void initTest(bool deserialized)
{
if (deserialized)
{
return;
}
m_hz = 4.0f;
m_zeta = 0.7f;
m_speed = 50.0f;
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = m_world.createBody(bd);
EdgeShape shape = new EdgeShape();
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 0.0f;
fd.friction = 0.6f;
shape.set(new Vec2(-20.0f, 0.0f), new Vec2(20.0f, 0.0f));
ground.createFixture(fd);
float[] hs = {0.25f, 1.0f, 4.0f, 0.0f, 0.0f, -1.0f, -2.0f, -2.0f, -1.25f, 0.0f};
float x = 20.0f, y1 = 0.0f, dx = 5.0f;
for (int i = 0; i < 10; ++i)
{
float y2 = hs[i];
shape.set(new Vec2(x, y1), new Vec2(x + dx, y2));
ground.createFixture(fd);
y1 = y2;
x += dx;
}
for (int i = 0; i < 10; ++i)
{
float y2 = hs[i];
shape.set(new Vec2(x, y1), new Vec2(x + dx, y2));
ground.createFixture(fd);
y1 = y2;
x += dx;
}
shape.set(new Vec2(x, 0.0f), new Vec2(x + 40.0f, 0.0f));
ground.createFixture(fd);
x += 80.0f;
shape.set(new Vec2(x, 0.0f), new Vec2(x + 40.0f, 0.0f));
ground.createFixture(fd);
x += 40.0f;
shape.set(new Vec2(x, 0.0f), new Vec2(x + 10.0f, 5.0f));
ground.createFixture(fd);
x += 20.0f;
shape.set(new Vec2(x, 0.0f), new Vec2(x + 40.0f, 0.0f));
ground.createFixture(fd);
x += 40.0f;
shape.set(new Vec2(x, 0.0f), new Vec2(x, 20.0f));
ground.createFixture(fd);
}
// Teeter
{
BodyDef bd = new BodyDef();
bd.position.set(140.0f, 1.0f);
bd.type = BodyType.DYNAMIC;
Body body = m_world.createBody(bd);
PolygonShape box = new PolygonShape();
box.setAsBox(10.0f, 0.25f);
body.createFixture(box, 1.0f);
RevoluteJointDef jd = new RevoluteJointDef();
jd.initialize(ground, body, body.getPosition());
jd.lowerAngle = -8.0f*MathUtils.PI/180.0f;
jd.upperAngle = 8.0f*MathUtils.PI/180.0f;
jd.enableLimit = true;
m_world.createJoint(jd);
body.applyAngularImpulse(100.0f);
}
// Bridge
{
int N = 20;
PolygonShape shape = new PolygonShape();
shape.setAsBox(1.0f, 0.125f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 1.0f;
fd.friction = 0.6f;
RevoluteJointDef jd = new RevoluteJointDef();
Body prevBody = ground;
for (int i = 0; i < N; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.position.set(161.0f + 2.0f*i, -0.125f);
Body body = m_world.createBody(bd);
body.createFixture(fd);
Vec2 anchor = new Vec2(160.0f + 2.0f*i, -0.125f);
jd.initialize(prevBody, body, anchor);
m_world.createJoint(jd);
prevBody = body;
}
Vec2 anchor2 = new Vec2(160.0f + 2.0f*N, -0.125f);
jd.initialize(prevBody, ground, anchor2);
m_world.createJoint(jd);
}
// Boxes
{
PolygonShape box = new PolygonShape();
box.setAsBox(0.5f, 0.5f);
Body body = null;
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.position.set(230.0f, 0.5f);
body = m_world.createBody(bd);
body.createFixture(box, 0.5f);
bd.position.set(230.0f, 1.5f);
body = m_world.createBody(bd);
body.createFixture(box, 0.5f);
bd.position.set(230.0f, 2.5f);
body = m_world.createBody(bd);
body.createFixture(box, 0.5f);
bd.position.set(230.0f, 3.5f);
body = m_world.createBody(bd);
body.createFixture(box, 0.5f);
bd.position.set(230.0f, 4.5f);
body = m_world.createBody(bd);
body.createFixture(box, 0.5f);
}
// Car
{
PolygonShape chassis = new PolygonShape();
Vec2[] vertices = new Vec2[8];
vertices[0] = new Vec2(-1.5f, -0.5f);
vertices[1] = new Vec2(1.5f, -0.5f);
vertices[2] = new Vec2(1.5f, 0.0f);
vertices[3] = new Vec2(0.0f, 0.9f);
vertices[4] = new Vec2(-1.15f, 0.9f);
vertices[5] = new Vec2(-1.5f, 0.2f);
chassis.set(vertices, 6);
CircleShape circle = new CircleShape();
circle.m_radius = 0.4f;
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.position.set(0.0f, 1.0f);
m_car = m_world.createBody(bd);
m_car.createFixture(chassis, 1.0f);
FixtureDef fd = new FixtureDef();
fd.shape = circle;
fd.density = 1.0f;
fd.friction = 0.9f;
bd.position.set(-1.0f, 0.35f);
m_wheel1 = m_world.createBody(bd);
m_wheel1.createFixture(fd);
bd.position.set(1.0f, 0.4f);
m_wheel2 = m_world.createBody(bd);
m_wheel2.createFixture(fd);
WheelJointDef jd = new WheelJointDef();
Vec2 axis = new Vec2(0.0f, 1.0f);
jd.initialize(m_car, m_wheel1, m_wheel1.getPosition(), axis);
jd.motorSpeed = 0.0f;
jd.maxMotorTorque = 20.0f;
jd.enableMotor = true;
jd.frequencyHz = m_hz;
jd.dampingRatio = m_zeta;
m_spring1 = (WheelJoint) m_world.createJoint(jd);
jd.initialize(m_car, m_wheel2, m_wheel2.getPosition(), axis);
jd.motorSpeed = 0.0f;
jd.maxMotorTorque = 10.0f;
jd.enableMotor = false;
jd.frequencyHz = m_hz;
jd.dampingRatio = m_zeta;
m_spring2 = (WheelJoint) m_world.createJoint(jd);
}
}
public override void initTest(bool deserialized)
{
if (deserialized)
{
return;
}
getWorld().setGravity(new Vec2(0.0f, 0.0f));
float k_restitution = 0.4f;
Body ground;
{
BodyDef bd = new BodyDef();
bd.position.set(0.0f, 20.0f);
ground = getWorld().createBody(bd);
EdgeShape shape = new EdgeShape();
FixtureDef sd = new FixtureDef();
sd.shape = shape;
sd.density = 0.0f;
sd.restitution = k_restitution;
// Left vertical
shape.set(new Vec2(-20.0f, -20.0f), new Vec2(-20.0f, 20.0f));
ground.createFixture(sd);
// Right vertical
shape.set(new Vec2(20.0f, -20.0f), new Vec2(20.0f, 20.0f));
ground.createFixture(sd);
// Top horizontal
shape.set(new Vec2(-20.0f, 20.0f), new Vec2(20.0f, 20.0f));
ground.createFixture(sd);
// Bottom horizontal
shape.set(new Vec2(-20.0f, -20.0f), new Vec2(20.0f, -20.0f));
ground.createFixture(sd);
}
{
Transform xf1 = new Transform();
xf1.q.set(0.3524f*MathUtils.PI);
Rot.mulToOutUnsafe(xf1.q, new Vec2(1.0f, 0.0f), ref xf1.p);
Vec2[] vertices = new Vec2[3];
vertices[0] = Transform.mul(xf1, new Vec2(-1.0f, 0.0f));
vertices[1] = Transform.mul(xf1, new Vec2(1.0f, 0.0f));
vertices[2] = Transform.mul(xf1, new Vec2(0.0f, 0.5f));
PolygonShape poly1 = new PolygonShape();
poly1.set(vertices, 3);
FixtureDef sd1 = new FixtureDef();
sd1.shape = poly1;
sd1.density = 4.0f;
Transform xf2 = new Transform();
xf2.q.set(-0.3524f*MathUtils.PI);
Rot.mulToOut(xf2.q, new Vec2(-1.0f, 0.0f), ref xf2.p);
vertices[0] = Transform.mul(xf2, new Vec2(-1.0f, 0.0f));
vertices[1] = Transform.mul(xf2, new Vec2(1.0f, 0.0f));
vertices[2] = Transform.mul(xf2, new Vec2(0.0f, 0.5f));
PolygonShape poly2 = new PolygonShape();
poly2.set(vertices, 3);
FixtureDef sd2 = new FixtureDef();
sd2.shape = poly2;
sd2.density = 2.0f;
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.angularDamping = 2.0f;
bd.linearDamping = 0.5f;
bd.position.set(0.0f, 2.0f);
bd.angle = MathUtils.PI;
bd.allowSleep = false;
m_body = getWorld().createBody(bd);
m_body.createFixture(sd1);
m_body.createFixture(sd2);
}
{
PolygonShape shape = new PolygonShape();
shape.setAsBox(0.5f, 0.5f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 1.0f;
fd.friction = 0.3f;
for (int i = 0; i < 10; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.position.set(0.0f, 5.0f + 1.54f*i);
Body body = getWorld().createBody(bd);
body.createFixture(fd);
float gravity = 10.0f;
float I = body.getInertia();
float mass = body.getMass();
// For a circle: I = 0.5 * m * r * r ==> r = sqrt(2 * I / m)
float radius = MathUtils.sqrt(2.0f*I/mass);
FrictionJointDef jd = new FrictionJointDef();
jd.localAnchorA.setZero();
jd.localAnchorB.setZero();
jd.bodyA = ground;
jd.bodyB = body;
jd.collideConnected = true;
jd.maxForce = mass*gravity;
jd.maxTorque = mass*radius*gravity;
getWorld().createJoint(jd);
}
}
}
public override void processBody(Body body, long tag)
{
if (tag == BODY_TAG)
{
m_body = body;
}
base.processBody(body, tag);
}
public override void initTest(bool deserialized)
{
if (deserialized)
{
return;
}
{
BodyDef bd = new BodyDef();
Body ground = getWorld().createBody(bd);
EdgeShape shape = new EdgeShape();
// shape.setAsBox(40, 10, new Vec2(0,-10), 0);
shape.set(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
ground.createFixture(shape, 0.0f);
shape.set(new Vec2(20.0f, 0.0f), new Vec2(20.0f, 20.0f));
ground.createFixture(shape, 0.0f);
}
float[] xs = new float[] {0.0f, -10.0f, -5.0f, 5.0f, 10.0f};
for (int j = 0; j < e_columnCount; ++j)
{
PolygonShape shape = new PolygonShape();
shape.setAsBox(0.5f, 0.5f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 1.0f;
fd.friction = 0.3f;
for (int i = 0; i < e_rowCount; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
int n = j*e_rowCount + i;
Debug.Assert(n < e_rowCount*e_columnCount);
float x = 0.0f;
// float x = RandomFloat(-0.02f, 0.02f);
// float x = i % 2 == 0 ? -0.025f : 0.025f;
bd.position.set(xs[j] + x, 0.752f + 1.54f*i);
Body body = getWorld().createBody(bd);
body.createFixture(fd);
}
}
m_bullet = null;
}
public override void processBody(Body argBody, long argTag)
{
if (argTag == BULLET_TAG)
{
m_bullet = argBody;
return;
}
base.processBody(argBody, argTag);
}
public override void keyPressed(char argKeyChar, int argKeyCode)
{
switch (argKeyChar)
{
case ',':
if (m_bullet != null)
{
getWorld().destroyBody(m_bullet);
m_bullet = null;
}
{
CircleShape shape = new CircleShape();
shape.m_radius = 0.25f;
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 20.0f;
fd.restitution = 0.05f;
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.bullet = true;
bd.position.set(-31.0f, 5.0f);
m_bullet = getWorld().createBody(bd);
m_bullet.createFixture(fd);
m_bullet.setLinearVelocity(new Vec2(400.0f, 0.0f));
}
break;
}
}
public override void processBody(Body argBody, long argTag)
{
if (argTag == CHARACTER_TAG)
{
m_character = argBody;
return;
}
base.processBody(argBody, argTag);
}
public override void processBody(Body body, long tag)
{
if (tag == CAR_TAG)
{
m_car = body;
}
else if (tag == WHEEL1_TAG)
{
m_wheel1 = body;
}
else if (tag == WHEEL2_TAG)
{
m_wheel2 = body;
}
else
{
base.processBody(body, tag);
}
}
public virtual void processBody(Body body, long tag)
{
}
public override void processBody(Body argBody, long argTag)
{
if (argTag == CHASSIS_TAG)
{
m_chassis = argBody;
}
else if (argTag == WHEEL_TAG)
{
m_wheel = argBody;
}
}
public void add(Body body)
{
Debug.Assert(m_bodyCount < m_bodyCapacity);
body.m_islandIndex = m_bodyCount;
m_bodies[m_bodyCount] = body;
++m_bodyCount;
}
private void launchBomb(Vec2 position, Vec2 velocity)
{
if (bomb != null)
{
m_world.destroyBody(bomb);
bomb = null;
}
// todo optimize this
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.position.set(position);
bd.bullet = true;
bomb = m_world.createBody(bd);
bomb.setLinearVelocity(velocity);
CircleShape circle = new CircleShape();
circle.m_radius = 0.3f;
FixtureDef fd = new FixtureDef();
fd.shape = circle;
fd.density = 20f;
fd.restitution = 0;
Vec2 minV = new Vec2(position);
Vec2 maxV = new Vec2(position);
minV.subLocal(new Vec2(.3f, .3f));
maxV.addLocal(new Vec2(.3f, .3f));
aabb.lowerBound.set(minV);
aabb.upperBound.set(maxV);
bomb.createFixture(fd);
}
public void init(TestbedModel model)
{
this.model = model;
Vec2 gravity = new Vec2(0, -10f);
m_world = model.getWorldCreator().createWorld(gravity);
m_world.setParticleGravityScale(0.4f);
m_world.setParticleDensity(1.2f);
bomb = null;
mouseJoint = null;
mouseTracing = false;
mouseTracerPosition.setZero();
mouseTracerVelocity.setZero();
BodyDef bodyDef = new BodyDef();
groundBody = m_world.createBody(bodyDef);
init(m_world, false);
}
public override void initTest(bool argDeserialized)
{
if (argDeserialized)
{
return;
}
m_offset.set(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 = 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);
shape.set(new Vec2(-50.0f, 0.0f), new Vec2(-50.0f, 10.0f));
ground.createFixture(shape, 0.0f);
shape.set(new Vec2(50.0f, 0.0f), new Vec2(50.0f, 10.0f));
ground.createFixture(shape, 0.0f);
}
// Balls
for (int i = 0; i < 40; ++i)
{
CircleShape shape = new CircleShape();
shape.m_radius = 0.25f;
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.position.set(-40.0f + 2.0f*i, 0.5f);
Body body = getWorld().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.type = BodyType.DYNAMIC;
bd.position.set(pivot);
bd.position.addLocal(m_offset);
m_chassis = getWorld().createBody(bd);
m_chassis.createFixture(sd);
}
{
CircleShape shape = new CircleShape();
shape.m_radius = 1.6f;
FixtureDef sd = new FixtureDef();
sd.density = 1.0f;
sd.shape = shape;
sd.filter.groupIndex = -1;
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.position.set(pivot);
bd.position.addLocal(m_offset);
m_wheel = getWorld().createBody(bd);
m_wheel.createFixture(sd);
}
{
RevoluteJointDef jd = new RevoluteJointDef();
jd.initialize(m_wheel, m_chassis, pivot.add(m_offset));
jd.collideConnected = false;
jd.motorSpeed = m_motorSpeed;
jd.maxMotorTorque = 400.0f;
jd.enableMotor = m_motorOn;
m_motorJoint = (RevoluteJoint) getWorld().createJoint(jd);
}
Vec2 wheelAnchor;
wheelAnchor = pivot.add(new Vec2(0.0f, -0.8f));
createLeg(-1.0f, wheelAnchor);
createLeg(1.0f, wheelAnchor);
m_wheel.setTransform(m_wheel.getPosition(), 120.0f*MathUtils.PI/180.0f);
createLeg(-1.0f, wheelAnchor);
createLeg(1.0f, wheelAnchor);
m_wheel.setTransform(m_wheel.getPosition(), -120.0f*MathUtils.PI/180.0f);
createLeg(-1.0f, wheelAnchor);
createLeg(1.0f, wheelAnchor);
}
public override void initTest(bool argDeserialized)
{
// Ground body
{
BodyDef bd = new BodyDef();
Body 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);
}
// Breakable dynamic body
{
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.position.set(0.0f, 40.0f);
bd.angle = 0.25f*MathUtils.PI;
m_body1 = getWorld().createBody(bd);
m_shape1 = new PolygonShape();
m_shape1.setAsBox(0.5f, 0.5f, new Vec2(-0.5f, 0.0f), 0.0f);
m_piece1 = m_body1.createFixture(m_shape1, 1.0f);
m_shape2 = new PolygonShape();
m_shape2.setAsBox(0.5f, 0.5f, new Vec2(0.5f, 0.0f), 0.0f);
m_piece2 = m_body1.createFixture(m_shape2, 1.0f);
}
m_break = false;
m_broke = false;
}
public override void initTest(bool deserialized)
{
if (deserialized)
{
return;
}
// Ground body
{
BodyDef bd = new BodyDef();
Body ground = getWorld().createBody(bd);
EdgeShape shape = new EdgeShape();
shape.set(new Vec2(-20.0f, 0.0f), new Vec2(20.0f, 0.0f));
ground.createFixture(shape, 0.0f);
}
// Collinear edges
// This shows the problematic case where a box shape can hit
// an internal vertex.
{
BodyDef bd = new BodyDef();
Body ground = getWorld().createBody(bd);
EdgeShape shape = new EdgeShape();
shape.m_radius = 0.0f;
shape.set(new Vec2(-8.0f, 1.0f), new Vec2(-6.0f, 1.0f));
ground.createFixture(shape, 0.0f);
shape.set(new Vec2(-6.0f, 1.0f), new Vec2(-4.0f, 1.0f));
ground.createFixture(shape, 0.0f);
shape.set(new Vec2(-4.0f, 1.0f), new Vec2(-2.0f, 1.0f));
ground.createFixture(shape, 0.0f);
}
// Chain shape
{
BodyDef bd = new BodyDef();
bd.angle = 0.25f*MathUtils.PI;
Body ground = getWorld().createBody(bd);
Vec2[] vs = new Vec2[4];
vs[0] = new Vec2(5.0f, 7.0f);
vs[1] = new Vec2(6.0f, 8.0f);
vs[2] = new Vec2(7.0f, 8.0f);
vs[3] = new Vec2(8.0f, 7.0f);
ChainShape shape = new ChainShape();
shape.createChain(vs, 4);
ground.createFixture(shape, 0.0f);
}
// Square tiles. This shows that adjacency shapes may
// have non-smooth collision. There is no solution
// to this problem.
{
BodyDef bd = new BodyDef();
Body ground = getWorld().createBody(bd);
PolygonShape shape = new PolygonShape();
shape.setAsBox(1.0f, 1.0f, new Vec2(4.0f, 3.0f), 0.0f);
ground.createFixture(shape, 0.0f);
shape.setAsBox(1.0f, 1.0f, new Vec2(6.0f, 3.0f), 0.0f);
ground.createFixture(shape, 0.0f);
shape.setAsBox(1.0f, 1.0f, new Vec2(8.0f, 3.0f), 0.0f);
ground.createFixture(shape, 0.0f);
}
// Square made from an edge loop. Collision should be smooth.
{
BodyDef bd = new BodyDef();
Body ground = m_world.createBody(bd);
Vec2[] vs = new Vec2[4];
vs[0] = new Vec2(-1.0f, 3.0f);
vs[1] = new Vec2(1.0f, 3.0f);
vs[2] = new Vec2(1.0f, 5.0f);
vs[3] = new Vec2(-1.0f, 5.0f);
ChainShape shape = new ChainShape();
shape.createLoop(vs, 4);
ground.createFixture(shape, 0.0f);
}
// Edge loop. Collision should be smooth.
{
BodyDef bd = new BodyDef();
bd.position.set(-10.0f, 4.0f);
Body ground = getWorld().createBody(bd);
Vec2[] vs = new Vec2[10];
vs[0] = new Vec2(0.0f, 0.0f);
vs[1] = new Vec2(6.0f, 0.0f);
vs[2] = new Vec2(6.0f, 2.0f);
vs[3] = new Vec2(4.0f, 1.0f);
vs[4] = new Vec2(2.0f, 2.0f);
vs[5] = new Vec2(0.0f, 2.0f);
vs[6] = new Vec2(-2.0f, 2.0f);
vs[7] = new Vec2(-4.0f, 3.0f);
vs[8] = new Vec2(-6.0f, 2.0f);
vs[9] = new Vec2(-6.0f, 0.0f);
ChainShape shape = new ChainShape();
shape.createLoop(vs, 10);
ground.createFixture(shape, 0.0f);
}
// Square character 1
{
BodyDef bd = new BodyDef();
bd.position.set(-3.0f, 8.0f);
bd.type = BodyType.DYNAMIC;
bd.fixedRotation = true;
bd.allowSleep = false;
Body body = getWorld().createBody(bd);
PolygonShape shape = new PolygonShape();
shape.setAsBox(0.5f, 0.5f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 20.0f;
body.createFixture(fd);
}
// Square character 2
{
BodyDef bd = new BodyDef();
bd.position.set(-5.0f, 5.0f);
bd.type = BodyType.DYNAMIC;
bd.fixedRotation = true;
bd.allowSleep = false;
Body body = getWorld().createBody(bd);
PolygonShape shape = new PolygonShape();
shape.setAsBox(0.25f, 0.25f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 20.0f;
body.createFixture(fd);
}
// Hexagon character
{
BodyDef bd = new BodyDef();
bd.position.set(-5.0f, 8.0f);
bd.type = BodyType.DYNAMIC;
bd.fixedRotation = true;
bd.allowSleep = false;
Body body = getWorld().createBody(bd);
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(0.5f*MathUtils.cos(angle), 0.5f*MathUtils.sin(angle));
angle += delta;
}
PolygonShape shape = new PolygonShape();
shape.set(vertices, 6);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 20.0f;
body.createFixture(fd);
}
// Circle character
{
BodyDef bd = new BodyDef();
bd.position.set(3.0f, 5.0f);
bd.type = BodyType.DYNAMIC;
bd.fixedRotation = true;
bd.allowSleep = false;
Body body = getWorld().createBody(bd);
CircleShape shape = new CircleShape();
shape.m_radius = 0.5f;
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 20.0f;
body.createFixture(fd);
}
// Circle character
{
BodyDef bd = new BodyDef();
bd.position.set(-7.0f, 6.0f);
bd.type = BodyType.DYNAMIC;
bd.allowSleep = false;
m_character = getWorld().createBody(bd);
CircleShape shape = new CircleShape();
shape.m_radius = 0.25f;
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 20.0f;
fd.friction = 1;
m_character.createFixture(fd);
}
}
