public ShapeEditing()
{
{
PolygonDef sd = new PolygonDef();
sd.SetAsBox(50.0f, 10.0f);
BodyDef bd = new BodyDef();
bd.Position.Set(0.0f, -10.0f);
Body ground = _world.CreateBody(bd);
ground.CreateShape(sd);
}
BodyDef bodydef = new BodyDef();
bodydef.Position.Set(0.0f, 10.0f);
_body = _world.CreateBody(bodydef);
PolygonDef sd_ = new PolygonDef();
sd_.SetAsBox(4.0f, 4.0f, new Vec2(0.0f, 0.0f), 0.0f);
sd_.Density = 10.0f;
_shape1 = _body.CreateShape(sd_);
_body.SetMassFromShapes();
_shape2 = null;
}
public Projectile(Player creator, float x, float y, float width, float height)
: base(creator, 0, 0)
{
/* Create New Projectile Body */
BodyDef def = new BodyDef();
def.IsBullet = true;
def.Position = creator.body.GetPosition() + new Vec2(x, y);
projectile = creator.body.GetWorld().CreateBody(def);
/* Create a fixture for the projectile */
PolygonDef fixdef = new PolygonDef();
fixdef.Density = 1.0f;
fixdef.SetAsBox(width / 2, height / 2);
fixdef.Filter.GroupIndex = creator.ID;
fixture = projectile.CreateFixture(fixdef);
fixture.Filter.CategoryBits = 0x0004;
fixture.Filter.MaskBits = 0xFFFF;
/* Made a 2nd fixture, one to observe all collisions */
fixdef.IsSensor = true;
fix2 = projectile.CreateFixture(fixdef);
fix2.UserData = this;
/* Finally, give this projectile some mass */
projectile.SetMassFromShapes();
/* Also, make sure we destroy the projectile when it is time */
this.OnDestroy += Cleanup;
}
public TimeOfImpact()
{
{
PolygonDef sd = new PolygonDef();
sd.Density = 0.0f;
sd.SetAsBox(0.1f, 10.0f, new Vec2(10.0f, 0.0f), 0.0f);
BodyDef bd = new BodyDef();
bd.Position.Set(0.0f, 20.0f);
bd.Angle = 0.0f;
_body1 = _world.CreateBody(bd);
_shape1 = _body1.CreateShape(sd);
}
{
PolygonDef sd = new PolygonDef();
sd.SetAsBox(0.25f, 0.25f);
sd.Density = 1.0f;
BodyDef bd = new BodyDef();
bd.Position.Set(9.6363468f, 28.050615f);
bd.Angle = 1.6408679f;
_body2 = _world.CreateBody(bd);
_shape2 = (PolygonShape)_body2.CreateShape(sd);
_body2.SetMassFromShapes();
}
}
public CCDTest()
{
{
PolygonDef sd = new PolygonDef();
sd.SetAsBox(10.0f, 0.2f);
sd.Density = 0.0f;
BodyDef bd = new BodyDef();
bd.Position.Set(0.0f, -0.2f);
Body body = _world.CreateBody(bd);
body.CreateFixture(sd);
sd.SetAsBox(0.2f, 1.0f, new Vec2(0.5f, 1.2f), 0.0f);
body.CreateFixture(sd);
}
{
PolygonDef sd = new PolygonDef();
sd.SetAsBox(2.0f, 0.1f);
sd.Density = 1.0f;
sd.Restitution = 0;
BodyDef bd = new BodyDef();
bd.Position.Set(0.0f, 20.0f);
Body body = _world.CreateBody(bd);
body.CreateFixture(sd);
body.SetMassFromShapes();
body.SetLinearVelocity(new Vec2(0.0f, -100.0f));
body.SetAngularVelocity(Box2DX.Common.Math.Random(-50.0f, 50.0f));
}
}
public World(AABB worldAABB, Vec2 gravity, bool doSleep)
{
this._destructionListener = null;
this._boundaryListener = null;
this._contactFilter = WorldCallback.DefaultFilter;
this._contactListener = null;
this._debugDraw = null;
this._bodyList = null;
this._contactList = null;
this._jointList = null;
this._bodyCount = 0;
this._contactCount = 0;
this._jointCount = 0;
this._warmStarting = true;
this._continuousPhysics = true;
this._allowSleep = doSleep;
this._gravity = gravity;
this._lock = false;
this._inv_dt0 = 0f;
this._contactManager = new ContactManager();
this._contactManager._world = this;
this._broadPhase = new BroadPhase(worldAABB, this._contactManager);
BodyDef def = new BodyDef();
this._groundBody = this.CreateBody(def);
}
public SphereStack()
{
{
BodyDef bd = new BodyDef();
Body ground = _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);
}
{
CircleShape shape = new CircleShape();
shape._radius = 1.0f;
for (int i = 0; i < _count; ++i)
{
BodyDef bd = new BodyDef();
bd.Position.Set(0.0f, 4.0f + 3.0f * i);
_bodies[i] = _world.CreateBody(bd);
_bodies[i].CreateFixture(shape, 1.0f);
//m_bodies[i]->SetLinearVelocity(b2Vec2(0.0f, -100.0f));
}
}
}
public VaryingRestitution()
{
{
PolygonDef sd = new PolygonDef();
sd.SetAsBox(50.0f, 10.0f);
BodyDef bd = new BodyDef();
bd.Position.Set(0.0f, -10.0f);
Body ground = _world.CreateBody(bd);
ground.CreateShape(sd);
}
{
CircleDef sd = new CircleDef();
sd.Radius = 1.0f;
sd.Density = 1.0f;
float[] restitution = new float[7] { 0.0f, 0.1f, 0.3f, 0.5f, 0.75f, 0.9f, 1.0f };
for (int i = 0; i < 7; ++i)
{
BodyDef bd = new BodyDef();
bd.Position.Set(-10.0f + 3.0f * i, 20.0f);
Body body = _world.CreateBody(bd);
sd.Restitution = restitution[i];
body.CreateShape(sd);
body.SetMassFromShapes();
}
}
}
public DistanceTest()
{
PolygonDef sd = new PolygonDef();
sd.SetAsBox(1.0f, 1.0f);
sd.Density = 0.0f;
BodyDef bd = new BodyDef();
bd.Position.Set(0.0f, 10.0f);
_body1 = _world.CreateBody(bd);
_shape1 = _body1.CreateShape(sd);
PolygonDef sd2 = new PolygonDef();
sd2.VertexCount = 3;
sd2.Vertices[0].Set(-1.0f, 0.0f);
sd2.Vertices[1].Set(1.0f, 0.0f);
sd2.Vertices[2].Set(0.0f, 15.0f);
sd2.Density = 1.0f;
BodyDef bd2 = new BodyDef();
bd2.Position.Set(0.0f, 10.0f);
_body2 = _world.CreateBody(bd2);
_shape2 = _body2.CreateShape(sd2);
_body2.SetMassFromShapes();
_world.Gravity = new Vec2(0.0f, 0.0f);
}
public Breakable()
{
// Ground body
{
BodyDef bd = new BodyDef();
Body ground = _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);
}
// Breakable dynamic body
{
BodyDef bd = new BodyDef();
bd.Position.Set(0.0f, 40.0f);
bd.Angle = 0.25f * Box2DX.Common.Settings.PI;
_body1 = _world.CreateBody(bd);
_shape1.SetAsBox(0.5f, 0.5f, new Vec2(-0.5f, 0.0f), 0.0f);
_piece1 = _body1.CreateFixture(_shape1, 1.0f);
_shape2.SetAsBox(0.5f, 0.5f, new Vec2(0.5f, 0.0f), 0.0f);
_piece2 = _body1.CreateFixture(_shape2, 1.0f);
}
_break = false;
_broke = false;
}
public PolyCollision()
{
_localPoints[0].state = ContactState.ContactRemoved;
_localPoints[1].state = ContactState.ContactRemoved;
{
PolygonDef sd = new PolygonDef();
sd.Vertices[0].Set(-9.0f, -1.1f);
sd.Vertices[1].Set(7.0f, -1.1f);
sd.Vertices[2].Set(5.0f, -0.9f);
sd.Vertices[3].Set(-11.0f, -0.9f);
sd.VertexCount = 4;
sd.Density = 0.0f;
BodyDef bd = new BodyDef();
bd.Position.Set(0.0f, 10.0f);
_body1 = _world.CreateBody(bd);
_body1.CreateShape(sd);
}
{
PolygonDef sd = new PolygonDef();
sd.SetAsBox(0.5f, 0.5f);
sd.Density = 1.0f;
BodyDef bd = new BodyDef();
bd.Position.Set(0.0f, 10.0f);
_body2 = _world.CreateBody(bd);
_body2.CreateShape(sd);
_body2.SetMassFromShapes();
}
_world.Gravity = Vec2.Zero;
}
public VaryingRestitution()
{
{
BodyDef bd = new BodyDef();
Body ground = _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);
}
{
CircleShape shape = new CircleShape();
shape._radius = 1.0f;
FixtureDef fd = new FixtureDef();
fd.Shape = shape;
fd.Density = 1.0f;
float[] restitution = { 0.0f, 0.1f, 0.3f, 0.5f, 0.75f, 0.9f, 1.0f };
for (int i = 0; i < 7; ++i)
{
BodyDef bd = new BodyDef();
bd.Position.Set(-10.0f + 3.0f * i, 20.0f);
Body body = _world.CreateBody(bd);
fd.Restitution = restitution[i];
body.CreateFixture(fd);
}
}
}
private Transform _xf; // the body origin transform
#endregion Fields
#region Constructors
internal Body(BodyDef bd, World world)
{
_flags = 0;
if (bd.IsBullet)
{
_flags |= BodyFlags.Bullet;
}
if (bd.FixedRotation)
{
_flags |= BodyFlags.FixedRotation;
}
if (bd.AllowSleep)
{
_flags |= BodyFlags.AllowSleep;
}
if (bd.IsSleeping)
{
_flags |= BodyFlags.Sleep;
}
_world = world;
_xf.Position = bd.Position;
_xf.R.Set(bd.Angle);
_sweep.LocalCenter.SetZero();
_sweep.T0 = 1.0f;
_sweep.A0 = _sweep.A = bd.Angle;
_sweep.C0 = _sweep.C = Math.Mul(_xf, _sweep.LocalCenter);
_jointList = null;
_contactList = null;
_prev = null;
_next = null;
_linearVelocity = bd.LinearVelocity;
_angularVelocity = bd.AngularVelocity;
_linearDamping = bd.LinearDamping;
_angularDamping = bd.AngularDamping;
_force.Set(0.0f, 0.0f);
_torque = 0.0f;
_sleepTime = 0.0f;
_mass = 0;
_invMass = 0.0f;
_I = 0.0f;
_invI = 0.0f;
_type = BodyType.Static;
_userData = bd.UserData;
_fixtureList = null;
_fixtureCount = 0;
}
public PhysicsActor(World _world, Vector2 _position, float _angle = 0.0f, bool _isStatic = false)
{
BodyDef bodydef = new BodyDef();
bodydef.Position = _position;
bodydef.Angle = 0.0f;
body = _world.CreateBody(bodydef);
}
public Test()
{
AABB aabb = new AABB();
aabb.UpperBound = new UnityEngine.Vector2(100,100);
aabb.LowerBound = new UnityEngine.Vector2(-100,-100);
World world = new World(aabb, new Vector2(0, -1), false);
BodyDef groundBodyDef = new BodyDef();
groundBodyDef.Position.Set(0, 0);
PolygonShape groundBox = new PolygonShape();
groundBox.SetAsBox(10, 1);
Body body = new Body(groundBodyDef, world);
}
public InGameState()
{
//position the score display centered at the top
ScoreDisplay.CharacterSize = 90;
ScoreDisplay.DisplayedString = InGameState.WinCount0.ToString();
float leftSize = ScoreDisplay.GetLocalBounds().Width;
ScoreDisplay.DisplayedString += " : ";
float midSize = ScoreDisplay.GetLocalBounds().Width - leftSize;
ScoreDisplay.DisplayedString += InGameState.WinCount1.ToString();
ScoreDisplay.Origin = new Vector2(leftSize + 0.5f * midSize, 0f);
ScoreDisplay.Position = new Vector2(Constants.windowSizeX / 2 , Constants.windowSizeY / 14);
ScoreDisplay.Color = new SFML.Graphics.Color(200, 255, 200);
AABB aabb = new AABB();
aabb.LowerBound.Set(0.0f, 0.0f);
aabb.UpperBound.Set(800, 600/*Constants.worldSizeX * Constants.screenRatio*/);
physicsWorld = new World(aabb, new Vec2(0.0f, -9.81f), false);
contactManager = Physics.ContactManager.g_contactManager;
physicsWorld.SetContactListener(contactManager);
// Set new Players and appending dekoHands
ResetPlayers();
setDekoFlags();
//0xF0A58A4
groundPolygonAct = new Actors.PolygonActor(physicsWorld, new Vec2(0.0f, 15.0f), 0xFBA58A4, Actors.FunctionType.GradientNoise, 4);
BackgroundBackSprite = new Sprite(AssetManager.getTexture(AssetManager.TextureName.InGameBackGroundBack));
BackgroundBackSprite.Scale = new Vector2(Constants.windowSizeX / (float)BackgroundBackSprite.TextureRect.Width, Constants.windowSizeY / (float)BackgroundBackSprite.TextureRect.Height);//0.5F * Vector2.One;
BackgroundFrontSprite = new Sprite(AssetManager.getTexture(AssetManager.TextureName.InGameBackGroundFront));
BackgroundFrontSprite.Scale = BackgroundBackSprite.Scale;
//left and right borders of the map
BodyDef bodydef = new BodyDef();
bodydef.Position = new Vector2(0,0);
bodydef.Angle = 0.0f;
PolygonDef box = new PolygonDef();
box.SetAsBox(1f, Constants.worldSizeY);
Body leftEdge = physicsWorld.CreateBody(bodydef);
contactManager.addNonLethalShape(leftEdge.CreateShape(box));
bodydef.Position = new Vector2(Constants.worldSizeX-1, 0);
Body rightEdge = physicsWorld.CreateBody(bodydef);
contactManager.addNonLethalShape(rightEdge.CreateShape(box));
bodydef.Position = new Vector2(0, Constants.worldSizeY);
box.SetAsBox(Constants.worldSizeX, 1f);
Body topEdge = physicsWorld.CreateBody(bodydef);
contactManager.addNonLethalShape(topEdge.CreateShape(box));
}
protected override void CreatePhysics(World world, float positionX, float positionY, float friction)
{
var bodyDef = new BodyDef();
bodyDef.Position.Set(positionX, positionY);
this.body = world.CreateBody(bodyDef);
var shapeDef = new PolygonDef();
shapeDef.SetAsBox(this.Width, this.Height);
shapeDef.Density = this.Density;
shapeDef.Friction = friction;
shapeDef.Restitution = 0.3f;
this.body.CreateShape(shapeDef);
this.body.SetMassFromShapes();
}
public Confined()
{
{
BodyDef bd = new BodyDef();
Body ground = _world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
// Floor
shape.SetAsEdge(new Vec2(-10.0f, 0.0f), new Vec2(40.0f, 0.0f));
ground.CreateFixture(shape, 0);
// Left wall
shape.SetAsEdge(new Vec2(-10.0f, 0.0f), new Vec2(-10.0f, 20.0f));
ground.CreateFixture(shape, 0);
// Right wall
shape.SetAsEdge(new Vec2(10.0f, 0.0f), new Vec2(10.0f, 20.0f));
ground.CreateFixture(shape, 0);
// Roof
shape.SetAsEdge(new Vec2(-10.0f, 20.0f), new Vec2(10.0f, 20.0f));
ground.CreateFixture(shape, 0);
}
{
float radius = 0.5f;
CircleShape shape = new CircleShape();
shape._p.SetZero();
shape._radius = radius;
FixtureDef fd = new FixtureDef();
fd.Shape = shape;
fd.Density = 1.0f;
fd.Friction = 0.1f;
for (int j = 0; j < _columnCount; ++j)
{
for (int i = 0; i < _rowCount; ++i)
{
BodyDef bd = new BodyDef();
bd.Position.Set(-10.0f + (2.1f * j + 1.0f + 0.01f * i) * radius, (2.0f * i + 1.0f) * radius);
Body body = _world.CreateBody(bd);
body.CreateFixture(fd);
}
}
}
_world.Gravity = new Vec2(0, 0);
}
public SensorTest()
{
{
BodyDef bd = new BodyDef();
Body ground = _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);
}
#if false
{
b2FixtureDef sd;
sd.SetAsBox(10.0f, 2.0f, b2Vec2(0.0f, 20.0f), 0.0f);
sd.isSensor = true;
m_sensor = ground->CreateFixture(&sd);
}
#else
{
CircleShape shape = new CircleShape();
shape._radius = 5.0f;
shape._p.Set(0.0f, 10.0f);
FixtureDef fd = new FixtureDef();
fd.Shape = shape;
fd.IsSensor = true;
_sensor = ground.CreateFixture(fd);
}
#endif
}
{
CircleShape shape = new CircleShape();
shape._radius = 1.0f;
for (int i = 0; i < _count; ++i)
{
BodyDef bd = new BodyDef();
bd.Position.Set(-10.0f + 3.0f * i, 20.0f);
bd.UserData = false;
_bodies[i] = _world.CreateBody(bd);
_bodies[i].CreateFixture(shape, 1.0f);
}
}
}
protected override void CreatePhysics(World world, float positionX, float positionY, float friction)
{
var bodyDef = new BodyDef();
bodyDef.Position.Set(positionX, positionY);
bodyDef.LinearDamping = 0.3f;
bodyDef.AngularDamping = 0.6f;
var circleDef = new CircleDef();
circleDef.Density = this.Density;
circleDef.Radius = this.Radius * 0.5f;
circleDef.Friction = friction;
circleDef.Restitution = 0.3f;
this.body = world.CreateBody(bodyDef);
this.body.CreateShape(circleDef);
this.body.SetMassFromShapes();
}
public PhysicManager()
{
// Define the ground body.
BodyDef groundBodyDef = new BodyDef();
groundBodyDef.Position.Set(0.0f, -10.0f);
// Call the body factory which creates the ground box shape.
// The body is also added to the world.
Body groundBody = world.CreateBody(groundBodyDef);
// Define the ground box shape.
PolygonDef groundShapeDef = new PolygonDef();
// The extents are the half-widths of the box.
groundShapeDef.SetAsBox(50.0f, 10.0f);
// Add the ground shape to the ground body.
groundBody.CreateShape(groundShapeDef);
// Define the dynamic body. We set its position and call the body factory.
BodyDef bodyDef = new BodyDef();
bodyDef.Position.Set(0.0f, 4.0f);
Body body = world.CreateBody(bodyDef);
// Define another box shape for our dynamic body.
PolygonDef shapeDef = new PolygonDef();
shapeDef.SetAsBox(1.0f, 1.0f);
// Set the box density to be non-zero, so it will be dynamic.
shapeDef.Density = 1.0f;
// Override the default friction.
shapeDef.Friction = 0.3f;
// Add the shape to the body.
body.CreateShape(shapeDef);
// Now tell the dynamic body to compute it's mass properties base
// on its shape.
body.SetMassFromShapes();
// Prepare for simulation. Typically we use a time step of 1/60 of a
// second (60Hz) and 10 iterations. This provides a high quality simulation
// in most game scenarios.
world.SetDebugDraw(new OpenGLDebugDraw());
}
public Pulleys()
{
Body ground = null;
{
PolygonDef sd = new PolygonDef();
sd.SetAsBox(50.0f, 10.0f);
BodyDef bd = new BodyDef();
bd.Position.Set(0.0f, -10.0f);
ground = _world.CreateBody(bd);
ground.CreateShape(sd);
}
{
float a = 2.0f;
float b = 4.0f;
float y = 16.0f;
float L = 12.0f;
PolygonDef sd = new PolygonDef();
sd.SetAsBox(a, b);
sd.Density = 5.0f;
BodyDef bd = new BodyDef();
bd.Position.Set(-10.0f, y);
Body body1 = _world.CreateBody(bd);
body1.CreateShape(sd);
body1.SetMassFromShapes();
bd.Position.Set(10.0f, y);
Body body2 = _world.CreateBody(bd);
body2.CreateShape(sd);
body2.SetMassFromShapes();
PulleyJointDef pulleyDef = new PulleyJointDef();
Vec2 anchor1 = new Vec2(-10.0f, y + b);
Vec2 anchor2 = new Vec2(10.0f, y + b);
Vec2 groundAnchor1 = new Vec2(-10.0f, y + b + L);
Vec2 groundAnchor2 = new Vec2(10.0f, y + b + L);
pulleyDef.Initialize(body1, body2, groundAnchor1, groundAnchor2, anchor1, anchor2, 2.0f);
_joint1 = (PulleyJoint)_world.CreateJoint(pulleyDef);
}
}
BipedTest()
{
const float k_restitution = 1.4f;
{
BodyDef bd = new BodyDef();
bd.Position.Set(0.0f, 20.0f);
Body body = _world.CreateBody(bd);
PolygonDef sd = new PolygonDef();
sd.Density = 0.0f;
sd.Restitution = k_restitution;
sd.SetAsBox(0.1f, 10.0f, new Vec2(-10.0f, 0.0f), 0.0f);
body.CreateShape(sd);
sd.SetAsBox(0.1f, 10.0f, new Vec2(10.0f, 0.0f), 0.0f);
body.CreateShape(sd);
sd.SetAsBox(0.1f, 10.0f, new Vec2(0.0f, -10.0f), 0.5f * Box2DX.Common.Settings.Pi);
body.CreateShape(sd);
sd.SetAsBox(0.1f, 10.0f, new Vec2(0.0f, 10.0f), -0.5f * Box2DX.Common.Settings.Pi);
body.CreateShape(sd);
}
_biped = new Biped(_world, new Vec2(0.0f, 20.0f));
for (int i = 0; i < 8; ++i)
{
BodyDef bd = new BodyDef();
bd.Position.Set(5.0f, 20.0f + i);
bd.IsBullet = true;
Body body = _world.CreateBody(bd);
body.SetLinearVelocity(new Vec2(0.0f, -100.0f));
body.SetAngularVelocity(Box2DX.Common.Math.Random(-50.0f, 50.0f));
CircleDef sd = new CircleDef();
sd.Radius = 0.25f;
sd.Density = 15.0f;
sd.Restitution = k_restitution;
body.CreateShape(sd);
body.SetMassFromShapes();
}
}
public Buoyancy()
{
BuoyancyController bc = _bc;
_world.AddController(bc);
bc.offset = 15;
bc.normal.Set(0, 1);
bc.density = 2;
bc.linearDrag = 2;
bc.angularDrag = 1;
for (int i = 0; i < 2; ++i)
{
PolygonDef sd = new PolygonDef();
sd.VertexCount = 3;
sd.Vertices[0].Set(-0.5f, 0.0f);
sd.Vertices[1].Set(0.5f, 0.0f);
sd.Vertices[2].Set(0.0f, 1.5f);
sd.Density = 1.0f;
BodyDef bd = new BodyDef();
bd.Position.Set(-8.0f + 8.0f * i, 12.0f);
Body body = _world.CreateBody(bd);
body.CreateShape(sd);
body.SetMassFromShapes();
bc.AddBody(body);
}
for (int i = 0; i < 3; ++i)
{
CircleDef sd = new CircleDef();
sd.Radius = 0.5f;
sd.Density = 1.0f;
BodyDef bd = new BodyDef();
bd.Position.Set(-6.0f + 6.0f * i, 10.0f);
Body body = _world.CreateBody(bd);
body.CreateShape(sd);
body.SetMassFromShapes();
bc.AddBody(body);
}
}
public SimpleTest()
{
// Define the ground body.
BodyDef groundBodyDef = new BodyDef();
groundBodyDef.Position.Set(0.0f, -10.0f);
// Call the body factory which creates the ground box shape.
// The body is also added to the world.
Body groundBody = _world.CreateBody(groundBodyDef);
// Define the ground box shape.
PolygonDef groundShapeDef = new PolygonDef();
// The extents are the half-widths of the box.
groundShapeDef.SetAsBox(50.0f, 10.0f);
// Add the ground shape to the ground body.
groundBody.CreateShape(groundShapeDef);
for (int i = 0; i < 1; i++)
{
// Define the dynamic body. We set its position and call the body factory.
BodyDef bodyDef = new BodyDef();
bodyDef.Position.Set(0.0f, 4.0f *(i+1));
Body body = _world.CreateBody(bodyDef);
// Define another box shape for our dynamic body.
PolygonDef shapeDef = new PolygonDef();
shapeDef.SetAsBox(1.0f, 1.0f);
// Set the box density to be non-zero, so it will be dynamic.
shapeDef.Density = 1.0f;
// Override the default friction.
shapeDef.Friction = 0.3f;
// Add the shape to the body.
body.CreateShape(shapeDef);
// Now tell the dynamic body to compute it's mass properties base
// on its shape.
body.SetMassFromShapes();
}
}
public Prismatic()
{
Body ground = null;
{
PolygonDef sd = new PolygonDef();
sd.SetAsBox(50.0f, 10.0f);
BodyDef bd = new BodyDef();
bd.Position.Set(0.0f, -10.0f);
ground = _world.CreateBody(bd);
ground.CreateShape(sd);
}
{
PolygonDef sd = new PolygonDef();
sd.SetAsBox(2.0f, 0.5f);
sd.Density = 5.0f;
sd.Friction = 0.05f;
BodyDef bd = new BodyDef();
bd.Position.Set(-10.0f, 10.0f);
bd.Angle = 0.5f * Box2DX.Common.Settings.Pi;
Body body = _world.CreateBody(bd);
body.CreateShape(sd);
body.SetMassFromShapes();
PrismaticJointDef pjd = new PrismaticJointDef();
// Bouncy limit
pjd.Initialize(ground, body, new Vec2(0.0f, 0.0f), new Vec2(1.0f, 0.0f));
// Non-bouncy limit
//pjd.Initialize(ground, body, Vec2(-10.0f, 10.0f), Vec2(1.0f, 0.0f));
pjd.MotorSpeed = 10.0f;
pjd.MaxMotorForce = 1000.0f;
pjd.EnableMotor = true;
pjd.LowerTranslation = 0.0f;
pjd.UpperTranslation = 20.0f;
pjd.EnableLimit = true;
_joint = (PrismaticJoint)_world.CreateJoint(pjd);
}
}
public Revolute()
{
Body ground = null;
{
PolygonDef sd = new PolygonDef();
sd.SetAsBox(50.0f, 10.0f);
BodyDef bd = new BodyDef();
bd.Position.Set(0.0f, -10.0f);
ground = _world.CreateBody(bd);
ground.CreateShape(sd);
}
{
CircleDef sd = new CircleDef();
sd.Radius = 0.5f;
sd.Density = 5.0f;
BodyDef bd = new BodyDef();
RevoluteJointDef rjd = new RevoluteJointDef();
bd.Position.Set(0.0f, 20.0f);
Body body = _world.CreateBody(bd);
body.CreateShape(sd);
body.SetMassFromShapes();
float w = 100.0f;
body.SetAngularVelocity(w);
body.SetLinearVelocity(new Vec2(-8.0f * w, 0.0f));
rjd.Initialize(ground, body, new Vec2(0.0f, 12.0f));
rjd.MotorSpeed = 1.0f * Box2DX.Common.Settings.Pi;
rjd.MaxMotorTorque = 10000.0f;
rjd.EnableMotor = false;
rjd.LowerAngle = -0.25f * Box2DX.Common.Settings.Pi;
rjd.UpperAngle = 0.5f * Box2DX.Common.Settings.Pi;
rjd.EnableLimit = true;
rjd.CollideConnected = true;
_joint = (RevoluteJoint)_world.CreateJoint(rjd);
}
}
public Bridge()
{
Body ground = null;
{
PolygonDef sd = new PolygonDef();
sd.SetAsBox(50.0f, 10.0f);
BodyDef bd = new BodyDef();
bd.Position.Set(0.0f, -10.0f);
ground = _world.CreateBody(bd);
ground.CreateShape(sd);
}
{
PolygonDef sd = new PolygonDef();
sd.SetAsBox(0.5f, 0.125f);
sd.Density = 20.0f;
sd.Friction = 0.2f;
RevoluteJointDef jd = new RevoluteJointDef();
const int numPlanks = 30;
Body prevBody = ground;
for (int i = 0; i < numPlanks; ++i)
{
BodyDef bd = new BodyDef();
bd.Position.Set(-14.5f + 1.0f * i, 5.0f);
Body body = _world.CreateBody(bd);
body.CreateShape(sd);
body.SetMassFromShapes();
Vec2 anchor = new Vec2(-15.0f + 1.0f * i, 5.0f);
jd.Initialize(prevBody, body, anchor);
_world.CreateJoint(jd);
prevBody = body;
}
Vec2 anchor_ = new Vec2(-15.0f + 1.0f * numPlanks, 5.0f);
jd.Initialize(prevBody, ground, anchor_);
_world.CreateJoint(jd);
}
}
public Pyramid()
{
{
PolygonDef sd = new PolygonDef();
sd.SetAsBox(50.0f, 10.0f);
BodyDef bd = new BodyDef();
bd.Position.Set(0.0f, -10.0f);
Body ground = _world.CreateBody(bd);
ground.CreateFixture(sd);
}
{
PolygonDef sd = new PolygonDef();
float a = 0.5f;
sd.SetAsBox(a, a);
sd.Density = 5.0f;
Vec2 x = new Vec2(-10.0f, 0.75f);
Vec2 y;
Vec2 deltaX = new Vec2(0.5625f, 2.0f);
Vec2 deltaY = new Vec2(1.125f, 0.0f);
for (int i = 0; i < 25; ++i)
{
y = x;
for (int j = i; j < 25; ++j)
{
BodyDef bd = new BodyDef();
bd.Position = y;
Body body = _world.CreateBody(bd);
body.CreateFixture(sd);
body.SetMassFromShapes();
y += deltaY;
}
x += deltaX;
}
}
}
public VerticalStack()
{
{
PolygonDef sd = new PolygonDef();
sd.SetAsBox(50.0f, 10.0f, new Vec2(0.0f, -10.0f), 0.0f);
BodyDef bd = new BodyDef();
bd.Position.Set(0.0f, 0.0f);
Body ground = _world.CreateBody(bd);
ground.CreateShape(sd);
sd.SetAsBox(0.1f, 10.0f, new Vec2(20.0f, 10.0f), 0.0f);
ground.CreateShape(sd);
}
float[] xs = new float[5] { 0.0f, -10.0f, -5.0f, 5.0f, 10.0f };
for (int j = 0; j < 5; ++j)
{
PolygonDef sd = new PolygonDef();
sd.SetAsBox(0.5f, 0.5f);
sd.Density = 1.0f;
sd.Friction = 0.3f;
for (int i = 0; i < 12; ++i)
{
BodyDef bd = new BodyDef();
// For this test we are using continuous physics for all boxes.
// This is a stress test, you normally wouldn't do this for
// performance reasons.
bd.AllowSleep = true;
bd.Position.Set(xs[j], 0.752f + 1.54f * i);
Body body = _world.CreateBody(bd);
body.CreateShape(sd);
body.SetMassFromShapes();
}
}
_bullet = null;
}
public FrictionTest()
{
// Define the ground body.
BodyDef groundBodyDef = new BodyDef();
groundBodyDef.Position.Set(0.0f, -10.0f);
// Call the body factory which creates the ground box shape.
// The body is also added to the world.
Body groundBody = _world.CreateBody(groundBodyDef);
// Define the ground box shape.
PolygonDef groundShapeDef = new PolygonDef();
// The extents are the half-widths of the box.
groundShapeDef.SetAsBox(50.0f, 10.0f);
// Add the ground shape to the ground body.
groundBody.CreateFixture(groundShapeDef);
// Define the dynamic body. We set its position and call the body factory.
BodyDef bodyDef = new BodyDef();
bodyDef.Position.Set(1.0f, 2.0f);
Body bodyfast = _world.CreateBody(bodyDef);
// Define another box shape for our dynamic body.
PolygonDef shapeDef = new PolygonDef();
shapeDef.SetAsBox(1.0f, 1.0f);
shapeDef.Density = 1.0f;
shapeDef.Friction = 0.3f;
bodyfast.CreateFixture(shapeDef);
bodyfast.SetMassFromShapes();
bodyDef.Position.Set(-1.0f, 2.0f);
Body bodyslow = _world.CreateBody(bodyDef);
shapeDef.Friction = 0.8f;
bodyslow.CreateFixture(shapeDef);
bodyslow.SetMassFromShapes();
bodyslow.SetLinearVelocity(new Vec2(-3, 0));
bodyfast.SetLinearVelocity(new Vec2(3, 0));
}
internal Body(BodyDef bd, World world)
{
Box2DXDebug.Assert(world._lock == false);
_flags = 0;
if (bd.IsBullet)
{
_flags |= BodyFlags.Bullet;
}
if (bd.FixedRotation)
{
_flags |= BodyFlags.FixedRotation;
}
if (bd.AllowSleep)
{
_flags |= BodyFlags.AllowSleep;
}
if (bd.IsSleeping)
{
_flags |= BodyFlags.Sleep;
}
_world = world;
_xf.position = bd.Position;
_xf.rotation = Box2DX.Common.Math.AngleToRotation(bd.Angle);
//_xf.R = new Mat22(bd.Angle);
_sweep.LocalCenter = bd.MassData.Center;
_sweep.T0 = 1.0f;
_sweep.A0 = _sweep.A = bd.Angle;
_sweep.C0 = _sweep.C = _xf.TransformPoint(_sweep.LocalCenter);
//_jointList = null;
//_contactList = null;
//_controllerList = null;
//_prev = null;
//_next = null;
_linearVelocity = bd.LinearVelocity;
_angularVelocity = bd.AngularVelocity;
_linearDamping = bd.LinearDamping;
_angularDamping = bd.AngularDamping;
//_force.Set(0.0f, 0.0f);
//_torque = 0.0f;
//_linearVelocity.SetZero();
//_angularVelocity = 0.0f;
//_sleepTime = 0.0f;
//_invMass = 0.0f;
//_I = 0.0f;
//_invI = 0.0f;
_mass = bd.MassData.Mass;
if (_mass > 0.0f)
{
_invMass = 1.0f / _mass;
}
_I = bd.MassData.I;
if (_I > 0.0f && (_flags & BodyFlags.FixedRotation) == 0)
{
_invI = 1.0f / _I;
}
if (_invMass == 0.0f && _invI == 0.0f)
{
_type = BodyType.Static;
}
else
{
_type = BodyType.Dynamic;
}
_userData = bd.UserData;
//_fixtureList = null;
//_fixtureCount = 0;
bodyID = bodyCount++;
}
internal bool _useGravity; // STEVE Added
internal Body(BodyDef bd, World world)
{
Box2DXDebug.Assert(!world._lock);
this._flags = (Body.BodyFlags) 0;
if (bd.IsBullet)
{
this._flags |= Body.BodyFlags.Bullet;
}
if (bd.FixedRotation)
{
this._flags |= Body.BodyFlags.FixedRotation;
}
if (bd.AllowSleep)
{
this._flags |= Body.BodyFlags.AllowSleep;
}
if (bd.IsSleeping)
{
this._flags |= Body.BodyFlags.Sleep;
}
this._world = world;
this._xf.Position = bd.Position;
this._xf.R.Set(bd.Angle);
this._sweep.LocalCenter = bd.MassData.Center;
this._sweep.T0 = 1f;
this._sweep.A0 = (this._sweep.A = bd.Angle);
this._sweep.C0 = (this._sweep.C = Box2DX.Common.Math.Mul(this._xf, this._sweep.LocalCenter));
this._jointList = null;
this._contactList = null;
this._prev = null;
this._next = null;
this._linearDamping = bd.LinearDamping;
this._angularDamping = bd.AngularDamping;
this._force.Set(0f, 0f);
this._torque = 0f;
this._linearVelocity.SetZero();
this._angularVelocity = 0f;
this._sleepTime = 0f;
this._invMass = 0f;
this._I = 0f;
this._invI = 0f;
this._mass = bd.MassData.Mass;
if (this._mass > 0f)
{
this._invMass = 1f / this._mass;
}
if ((this._flags & Body.BodyFlags.FixedRotation) == (Body.BodyFlags) 0)
{
this._I = bd.MassData.I;
}
if (this._I > 0f)
{
this._invI = 1f / this._I;
}
if (this._invMass == 0f && this._invI == 0f)
{
this._type = Body.BodyType.Static;
}
else
{
this._type = Body.BodyType.Dynamic;
}
this._userData = bd.UserData;
this._shapeList = null;
this._shapeCount = 0;
this._gravity = _world.Gravity; // STEVE Added
this._useGravity = false; // STEVE Added
}
