/// Creates a fixture and attach it to this body. Use this function if you need
/// to set some fixture parameters, like friction. Otherwise you can create the
/// fixture directly from a shape.
/// This function automatically updates the mass of the body.
/// @param def the fixture definition.
/// @warning This function is locked during callbacks.
public Fixture CreateFixture(FixtureDef def)
{
Box2DXDebug.Assert(_world.IsLocked() == false);
if (_world.IsLocked() == true)
{
return(null);
}
BroadPhase broadPhase = _world._contactManager._broadPhase;
Fixture fixture = new Fixture();
fixture.Create(broadPhase, this, _xf, def);
fixture._next = _fixtureList;
_fixtureList = fixture;
++_fixtureCount;
fixture.Body = this;
bool needMassUpdate = fixture._massData.Mass > 0.0f || fixture._massData.I > 0.0f;
// Adjust mass properties if needed.
if (needMassUpdate)
{
ResetMass();
}
// Let the world know we have a new fixture. This will cause new contacts
// to be created at the beginning of the next time step.
_world._flags |= World.WorldFlags.NewFixture;
return(fixture);
}
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);
}
}
}
/// Creates a fixture from a shape and attach it to this body.
/// This is a convenience function. Use b2FixtureDef if you need to set parameters
/// like friction, restitution, user data, or filtering.
/// This function automatically updates the mass of the body.
/// @param shape the shape to be cloned.
/// @param density the shape density (set to zero for static bodies).
/// @warning This function is locked during callbacks.
public Fixture CreateFixture(Shape shape, float density)
{
FixtureDef def = new FixtureDef();
def.Shape = shape;
def.Density = density;
return(CreateFixture(def));
}
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);
}
}
}
public Chain()
{
Body ground = null;
{
BodyDef bd = new BodyDef();
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);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.6f, 0.125f);
FixtureDef fd = new FixtureDef();
fd.Shape = shape;
fd.Density = 20.0f;
fd.Friction = 0.2f;
RevoluteJointDef jd = new RevoluteJointDef();
jd.CollideConnected = false;
const float y = 25.0f;
Body prevBody = ground;
for (int i = 0; i < 30; ++i)
{
BodyDef bd = new BodyDef();
bd.Position.Set(0.5f + i, y);
Body body = _world.CreateBody(bd);
body.CreateFixture(fd);
Vec2 anchor = new Vec2(i, y);
jd.Initialize(prevBody, body, anchor);
_world.CreateJoint(jd);
prevBody = body;
}
}
}
// We need separation create/destroy functions from the constructor/destructor because
// the destructor cannot access the allocator or broad-phase (no destructor arguments allowed by C++).
public void Create(BroadPhase broadPhase, Body body, Transform xf, FixtureDef def)
{
UserData = def.UserData;
Friction = def.Friction;
Restitution = def.Restitution;
Body = body;
_next = null;
Filter = def.Filter;
IsSensor = def.IsSensor;
Shape = def.Shape.Clone();
Shape.ComputeMass(out _massData, def.Density);
// Create proxy in the broad-phase.
Shape.ComputeAABB(out Aabb, ref xf);
ProxyId = broadPhase.CreateProxy(Aabb, this);
}
/// <summary>
/// Creates a fixture and attach it to this body.
/// @warning This function is locked during callbacks.
/// </summary>
/// <param name="def">The fixture definition.</param>
public Fixture CreateFixture(FixtureDef def)
{
Box2DXDebug.Assert(_world._lock == false);
if (_world._lock == true)
{
return(null);
}
BroadPhase broadPhase = _world._broadPhase;
Fixture fixture = new Fixture();
fixture.Create(broadPhase, this, _xf, def);
fixture._next = _fixtureList;
_fixtureList = fixture;
++_fixtureCount;
fixture._body = this;
return(fixture);
}
/// Creates a fixture from a shape and attach it to this body.
/// This is a convenience function. Use b2FixtureDef if you need to set parameters
/// like friction, restitution, user data, or filtering.
/// This function automatically updates the mass of the body.
/// @param shape the shape to be cloned.
/// @param density the shape density (set to zero for static bodies).
/// @warning This function is locked during callbacks.
public Fixture CreateFixture(Shape shape, float density)
{
FixtureDef def = new FixtureDef();
def.Shape = shape;
def.Density = density;
return CreateFixture(def);
}
/// Creates a fixture and attach it to this body. Use this function if you need
/// to set some fixture parameters, like friction. Otherwise you can create the
/// fixture directly from a shape.
/// This function automatically updates the mass of the body.
/// @param def the fixture definition.
/// @warning This function is locked during callbacks.
public Fixture CreateFixture(FixtureDef def)
{
Box2DXDebug.Assert(_world.IsLocked() == false);
if (_world.IsLocked() == true)
{
return null;
}
BroadPhase broadPhase = _world._contactManager._broadPhase;
Fixture fixture = new Fixture();
fixture.Create(broadPhase, this, _xf, def);
fixture._next = _fixtureList;
_fixtureList = fixture;
++_fixtureCount;
fixture.Body = this;
bool needMassUpdate = fixture._massData.Mass > 0.0f || fixture._massData.I > 0.0f;
// Adjust mass properties if needed.
if (needMassUpdate)
{
ResetMass();
}
// Let the world know we have a new fixture. This will cause new contacts
// to be created at the beginning of the next time step.
_world._flags |= World.WorldFlags.NewFixture;
return fixture;
}
public void Create(BroadPhase broadPhase, Body body, XForm xf, FixtureDef def)
{
UserData = def.UserData;
Friction = def.Friction;
Restitution = def.Restitution;
Density = def.Density;
_body = body;
_next = null;
Filter = def.Filter;
_isSensor = def.IsSensor;
_type = def.Type;
// Allocate and initialize the child shape.
switch (_type)
{
case ShapeType.CircleShape:
{
CircleShape circle = new CircleShape();
CircleDef circleDef = (CircleDef)def;
circle._position = circleDef.LocalPosition;
circle._radius = circleDef.Radius;
_shape = circle;
}
break;
case ShapeType.PolygonShape:
{
PolygonShape polygon = new PolygonShape();
PolygonDef polygonDef = (PolygonDef)def;
polygon.Set(polygonDef.Vertices, polygonDef.VertexCount);
_shape = polygon;
}
break;
case ShapeType.EdgeShape:
{
EdgeShape edge = new EdgeShape();
EdgeDef edgeDef = (EdgeDef)def;
edge.Set(edgeDef.Vertex1, edgeDef.Vertex2);
_shape = edge;
}
break;
default:
Box2DXDebug.Assert(false);
break;
}
// Create proxy in the broad-phase.
AABB aabb;
_shape.ComputeAABB(out aabb, xf);
bool inRange = broadPhase.InRange(aabb);
// You are creating a shape outside the world box.
Box2DXDebug.Assert(inRange);
if (inRange)
{
_proxyId = broadPhase.CreateProxy(aabb, this);
}
else
{
_proxyId = PairManager.NullProxy;
}
}
public CollisionProcessing()
{
// Ground body
{
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vec2(-50.0f, 0.0f), new Vec2(50.0f, 0.0f));
FixtureDef sd = new FixtureDef();
sd.Shape = shape; ;
BodyDef bd = new BodyDef();
Body ground = _world.CreateBody(bd);
ground.CreateFixture(sd);
}
float xLo = -5.0f, xHi = 5.0f;
float yLo = 2.0f, yHi = 35.0f;
// Small triangle
Vec2[] vertices = new Vec2[3];
vertices[0].Set(-1.0f, 0.0f);
vertices[1].Set(1.0f, 0.0f);
vertices[2].Set(0.0f, 2.0f);
PolygonShape polygon = new PolygonShape();
polygon.Set(vertices, 3);
FixtureDef triangleShapeDef = new FixtureDef();
triangleShapeDef.Shape = polygon;
triangleShapeDef.Density = 1.0f;
BodyDef triangleBodyDef = new BodyDef();
triangleBodyDef.Position.Set(Math.Random(xLo, xHi), Math.Random(yLo, yHi));
Body body1 = _world.CreateBody(triangleBodyDef);
body1.CreateFixture(triangleShapeDef);
// Large triangle (recycle definitions)
vertices[0] *= 2.0f;
vertices[1] *= 2.0f;
vertices[2] *= 2.0f;
polygon.Set(vertices, 3);
triangleBodyDef.Position.Set(Math.Random(xLo, xHi), Math.Random(yLo, yHi));
Body body2 = _world.CreateBody(triangleBodyDef);
body2.CreateFixture(triangleShapeDef);
// Small box
polygon.SetAsBox(1.0f, 0.5f);
FixtureDef boxShapeDef = new FixtureDef();
boxShapeDef.Shape = polygon;
boxShapeDef.Density = 1.0f;
BodyDef boxBodyDef = new BodyDef();
boxBodyDef.Position.Set(Math.Random(xLo, xHi), Math.Random(yLo, yHi));
Body body3 = _world.CreateBody(boxBodyDef);
body3.CreateFixture(boxShapeDef);
// Large box (recycle definitions)
polygon.SetAsBox(2.0f, 1.0f);
boxBodyDef.Position.Set(Math.Random(xLo, xHi), Math.Random(yLo, yHi));
Body body4 = _world.CreateBody(boxBodyDef);
body4.CreateFixture(boxShapeDef);
// Small circle
CircleShape circle = new CircleShape();
circle._radius = 1.0f;
FixtureDef circleShapeDef = new FixtureDef();
circleShapeDef.Shape = circle;
circleShapeDef.Density = 1.0f;
BodyDef circleBodyDef = new BodyDef();
circleBodyDef.Position.Set(Math.Random(xLo, xHi), Math.Random(yLo, yHi));
Body body5 = _world.CreateBody(circleBodyDef);
body5.CreateFixture(circleShapeDef);
// Large circle
circle._radius *= 2.0f;
circleBodyDef.Position.Set(Math.Random(xLo, xHi), Math.Random(yLo, yHi));
Body body6 = _world.CreateBody(circleBodyDef);
body6.CreateFixture(circleShapeDef);
}
// We need separation create/destroy functions from the constructor/destructor because
// the destructor cannot access the allocator or broad-phase (no destructor arguments allowed by C++).
public void Create(BroadPhase broadPhase, Body body, Transform xf, FixtureDef def)
{
UserData = def.UserData;
Friction = def.Friction;
Restitution = def.Restitution;
Body = body;
_next = null;
Filter = def.Filter;
IsSensor = def.IsSensor;
Shape = def.Shape.Clone();
Shape.ComputeMass(out _massData, def.Density);
// Create proxy in the broad-phase.
Shape.ComputeAABB(out Aabb, ref xf);
ProxyId = broadPhase.CreateProxy(Aabb, this);
}
public ApplyForce()
{
_world.Gravity = new Vec2(0.0f, 0.0f);
const float k_restitution = 0.4f;
{
BodyDef bd = new BodyDef();
bd.Position.Set(0.0f, 20.0f);
Body ground = _world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
FixtureDef sd = new FixtureDef();
sd.Shape = shape;
sd.Density = 0.0f;
sd.Restitution = k_restitution;
// Left vertical
shape.SetAsEdge(new Vec2(-20.0f, -20.0f), new Vec2(-20.0f, 20.0f));
ground.CreateFixture(sd);
// Right vertical
shape.SetAsEdge(new Vec2(20.0f, -20.0f), new Vec2(20.0f, 20.0f));
ground.CreateFixture(sd);
// Top horizontal
shape.SetAsEdge(new Vec2(-20.0f, 20.0f), new Vec2(20.0f, 20.0f));
ground.CreateFixture(sd);
// Bottom horizontal
shape.SetAsEdge(new Vec2(-20.0f, -20.0f), new Vec2(20.0f, -20.0f));
ground.CreateFixture(sd);
}
{
Transform xf1 = new Transform();
xf1.R.Set(0.3524f * Box2DX.Common.Settings.PI);
xf1.Position = Math.Mul(xf1.R, new Vec2(1.0f, 0.0f));
Vec2[] vertices = new Vec2[3];
vertices[0] = Math.Mul(xf1, new Vec2(-1.0f, 0.0f));
vertices[1] = Math.Mul(xf1, new Vec2(1.0f, 0.0f));
vertices[2] = Math.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 = 2.0f;
Transform xf2 = new Transform();
xf2.R.Set(-0.3524f * Box2DX.Common.Settings.PI);
xf2.Position = Math.Mul(xf2.R, new Vec2(-1.0f, 0.0f));
vertices[0] = Math.Mul(xf2, new Vec2(-1.0f, 0.0f));
vertices[1] = Math.Mul(xf2, new Vec2(1.0f, 0.0f));
vertices[2] = Math.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.AngularDamping = 2.0f;
bd.LinearDamping = 0.1f;
bd.Position.Set(0.0f, 2.0f);
bd.Angle = Box2DX.Common.Settings.PI;
_body = _world.CreateBody(bd);
_body.CreateFixture(sd1);
_body.CreateFixture(sd2);
}
}
public void Create(BroadPhase broadPhase, Body body, XForm xf, FixtureDef def)
{
UserData = def.UserData;
Friction = def.Friction;
Restitution = def.Restitution;
Density = def.Density;
_body = body;
_next = null;
Filter = def.Filter;
_isSensor = def.IsSensor;
_type = def.Type;
// Allocate and initialize the child shape.
switch (_type)
{
case ShapeType.CircleShape:
{
CircleShape circle = new CircleShape();
CircleDef circleDef = (CircleDef)def;
circle._position = circleDef.LocalPosition;
circle._radius = circleDef.Radius;
_shape = circle;
}
break;
case ShapeType.PolygonShape:
{
PolygonShape polygon = new PolygonShape();
PolygonDef polygonDef = (PolygonDef)def;
polygon.Set(polygonDef.Vertices, polygonDef.VertexCount);
_shape = polygon;
}
break;
case ShapeType.EdgeShape:
{
EdgeShape edge = new EdgeShape();
EdgeDef edgeDef = (EdgeDef)def;
edge.Set(edgeDef.Vertex1, edgeDef.Vertex2);
_shape = edge;
}
break;
default:
Box2DXDebug.Assert(false);
break;
}
// Create proxy in the broad-phase.
AABB aabb;
_shape.ComputeAABB(out aabb, xf);
bool inRange = broadPhase.InRange(aabb);
// You are creating a shape outside the world box.
Box2DXDebug.Assert(inRange);
if (inRange)
{
_proxyId = broadPhase.CreateProxy(aabb, this);
}
else
{
_proxyId = PairManager.NullProxy;
}
}
private void CreateLeg(float s, Vec2 wheelAnchor)
{
Vec2 p1 = new Vec2(5.4f * s, -6.1f);
Vec2 p2 = new Vec2(7.2f * s, -1.2f);
Vec2 p3 = new Vec2(4.3f * s, -1.9f);
Vec2 p4 = new Vec2(3.1f * s, 0.8f);
Vec2 p5 = new Vec2(6.0f * s, 1.5f);
Vec2 p6 = new Vec2(2.5f * s, 3.7f);
FixtureDef fd1 = new FixtureDef();
FixtureDef fd2 = new FixtureDef();
fd1.Filter.GroupIndex = -1;
fd2.Filter.GroupIndex = -1;
fd1.Density = 1.0f;
fd2.Density = 1.0f;
PolygonShape poly1 = new PolygonShape();
PolygonShape poly2 = new PolygonShape();
if (s > 0.0f)
{
Vec2[] vertices = new Vec2[3];
vertices[0] = p1;
vertices[1] = p2;
vertices[2] = p3;
poly1.Set(vertices, 3);
vertices[0] = Vec2.Zero;
vertices[1] = p5 - p4;
vertices[2] = p6 - p4;
poly2.Set(vertices, 3);
}
else
{
Vec2[] vertices = new Vec2[3];
vertices[0] = p1;
vertices[1] = p3;
vertices[2] = p2;
poly1.Set(vertices, 3);
vertices[0] = Vec2.Zero;
vertices[1] = p6 - p4;
vertices[2] = p5 - p4;
poly2.Set(vertices, 3);
}
fd1.Shape = poly1;
fd2.Shape = poly2;
BodyDef bd1 = new BodyDef();
BodyDef bd2 = new BodyDef();
bd1.Position = _offset;
bd2.Position = p4 + _offset;
bd1.AngularDamping = 10.0f;
bd2.AngularDamping = 10.0f;
Body body1 = _world.CreateBody(bd1);
Body body2 = _world.CreateBody(bd2);
body1.CreateFixture(fd1);
body2.CreateFixture(fd2);
DistanceJointDef djd = new DistanceJointDef();
// Using a soft distance constraint can reduce some jitter.
// It also makes the structure seem a bit more fluid by
// acting like a suspension system.
djd.DampingRatio = 0.5f;
djd.FrequencyHz = 10.0f;
djd.Initialize(body1, body2, p2 + _offset, p5 + _offset);
_world.CreateJoint(djd);
djd.Initialize(body1, body2, p3 + _offset, p4 + _offset);
_world.CreateJoint(djd);
djd.Initialize(body1, _wheel, p3 + _offset, wheelAnchor + _offset);
_world.CreateJoint(djd);
djd.Initialize(body2, _wheel, p6 + _offset, wheelAnchor + _offset);
_world.CreateJoint(djd);
RevoluteJointDef rjd = new RevoluteJointDef();
rjd.Initialize(body2, _chassis, p4 + _offset);
_world.CreateJoint(rjd);
}
public VaryingFriction()
{
{
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);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(13.0f, 0.25f);
BodyDef bd = new BodyDef();
bd.Position.Set(-4.0f, 22.0f);
bd.Angle = -0.25f;
Body ground = _world.CreateBody(bd);
ground.CreateFixture(shape, 0);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.25f, 1.0f);
BodyDef bd = new BodyDef();
bd.Position.Set(10.5f, 19.0f);
Body ground = _world.CreateBody(bd);
ground.CreateFixture(shape, 0);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(13.0f, 0.25f);
BodyDef bd = new BodyDef();
bd.Position.Set(4.0f, 14.0f);
bd.Angle = 0.25f;
Body ground = _world.CreateBody(bd);
ground.CreateFixture(shape, 0);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.25f, 1.0f);
BodyDef bd = new BodyDef();
bd.Position.Set(-10.5f, 11.0f);
Body ground = _world.CreateBody(bd);
ground.CreateFixture(shape, 0);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(13.0f, 0.25f);
BodyDef bd = new BodyDef();
bd.Position.Set(-4.0f, 6.0f);
bd.Angle = -0.25f;
Body ground = _world.CreateBody(bd);
ground.CreateFixture(shape, 0);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.5f, 0.5f);
FixtureDef fd = new FixtureDef();
fd.Shape = shape;
fd.Density = 25.0f;
float[] friction = { 0.75f, 0.5f, 0.35f, 0.1f, 0.0f };
for (int i = 0; i < 5; ++i)
{
BodyDef bd = new BodyDef();
bd.Position.Set(-15.0f + 4.0f * i, 28.0f);
Body body = _world.CreateBody(bd);
fd.Friction = friction[i];
body.CreateFixture(fd);
}
}
}
private void CreateCircle()
{
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 = 0.0f;
BodyDef bd = new BodyDef();
bd.Position.Set(Math.Random(), (2.0f + Math.Random()) * radius);
Body body = _world.CreateBody(bd);
body.CreateFixture(fd);
}
public Dominos()
{
Body b1;
{
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
BodyDef bd = new BodyDef();
b1 = _world.CreateBody(bd);
b1.CreateFixture(shape,0);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(6.0f, 0.25f);
BodyDef bd = new BodyDef();
bd.Position.Set(-1.5f, 10.0f);
Body ground = _world.CreateBody(bd);
ground.CreateFixture(shape,0);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.1f, 1.0f);
FixtureDef fd = new FixtureDef();
fd.Shape = shape;
fd.Density = 20.0f;
fd.Friction = 0.1f;
for (int i = 0; i < 10; ++i)
{
BodyDef bd = new BodyDef();
bd.Position.Set(-6.0f + 1.0f * i, 11.25f);
Body body = _world.CreateBody(bd);
body.CreateFixture(fd);
}
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(7.0f, 0.25f, Vec2.Zero, 0.3f);
BodyDef bd = new BodyDef();
bd.Position.Set(1.0f, 6.0f);
Body ground = _world.CreateBody(bd);
ground.CreateFixture(shape,0);
}
Body b2;
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.25f, 1.5f);
BodyDef bd = new BodyDef();
bd.Position.Set(-7.0f, 4.0f);
b2 = _world.CreateBody(bd);
b2.CreateFixture(shape,0);
}
Body b3;
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(6.0f, 0.125f);
BodyDef bd = new BodyDef();
bd.Position.Set(-0.9f, 1.0f);
bd.Angle = -0.15f;
b3 = _world.CreateBody(bd);
b3.CreateFixture(shape, 10.0f);
}
RevoluteJointDef jd = new RevoluteJointDef();
Vec2 anchor = new Vec2();
anchor.Set(-2.0f, 1.0f);
jd.Initialize(b1, b3, anchor);
jd.CollideConnected = true;
_world.CreateJoint(jd);
Body b4;
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.25f, 0.25f);
BodyDef bd = new BodyDef();
bd.Position.Set(-10.0f, 15.0f);
b4 = _world.CreateBody(bd);
b4.CreateFixture(shape, 10.0f);
}
anchor.Set(-7.0f, 15.0f);
jd.Initialize(b2, b4, anchor);
_world.CreateJoint(jd);
Body b5;
{
BodyDef bd = new BodyDef();
bd.Position.Set(6.5f, 3.0f);
b5 = _world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
FixtureDef fd = new FixtureDef();
fd.Shape = shape;
fd.Density = 10.0f;
fd.Friction = 0.1f;
shape.SetAsBox(1.0f, 0.1f,new Vec2(0.0f, -0.9f), 0.0f);
b5.CreateFixture(fd);
shape.SetAsBox(0.1f, 1.0f, new Vec2(-0.9f, 0.0f), 0.0f);
b5.CreateFixture(fd);
shape.SetAsBox(0.1f, 1.0f,new Vec2(0.9f, 0.0f), 0.0f);
b5.CreateFixture(fd);
}
anchor.Set(6.0f, 2.0f);
jd.Initialize(b1, b5, anchor);
_world.CreateJoint(jd);
Body b6;
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(1.0f, 0.1f);
BodyDef bd = new BodyDef();
bd.Position.Set(6.5f, 4.1f);
b6 = _world.CreateBody(bd);
b6.CreateFixture(shape, 30.0f);
}
anchor.Set(7.5f, 4.0f);
jd.Initialize(b5, b6, anchor);
_world.CreateJoint(jd);
Body b7;
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.1f, 1.0f);
BodyDef bd = new BodyDef();
bd.Position.Set(7.4f, 1.0f);
b7 = _world.CreateBody(bd);
b7.CreateFixture(shape, 10.0f);
}
DistanceJointDef djd =new DistanceJointDef();
djd.Body1 = b3;
djd.Body2 = b7;
djd.LocalAnchor1.Set(6.0f, 0.0f);
djd.LocalAnchor2.Set(0.0f, -1.0f);
Vec2 d = djd.Body2.GetWorldPoint(djd.LocalAnchor2) - djd.Body1.GetWorldPoint(djd.LocalAnchor1);
djd.Length = d.Length();
_world.CreateJoint(djd);
{
float radius = 0.2f;
CircleShape shape = new CircleShape();
shape._radius = radius;
for (int i = 0; i < 4; ++i)
{
BodyDef bd = new BodyDef();
bd.Position.Set(5.9f + 2.0f * radius * i, 2.4f);
Body body = _world.CreateBody(bd);
body.CreateFixture(shape, 10.0f);
}
}
}
public CCDTest()
{
#if true
{
//TODO: only one shape is created here instead of two. That is because
//they are reference types and when shape is changed, it changes the original instead of a new copy.
PolygonShape shape = new PolygonShape();
shape.SetAsBox(10.0f, 0.2f);
FixtureDef fd = new FixtureDef();
fd.Shape = shape;
fd.Density = 0.0f;
BodyDef bd = new BodyDef();
bd.Position.Set(0.0f, -0.2f);
Body body = _world.CreateBody(bd);
body.CreateFixture(fd);
shape.SetAsBox(0.2f, 1.0f, new Vec2(0.5f, 1.2f), 0.0f);
body.CreateFixture(fd);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(2.0f, 0.1f);
FixtureDef fd = new FixtureDef();
fd.Shape = shape;
fd.Density = 1.0f;
fd.Restitution = 0.0f;
_angularVelocity = Math.Random(-50.0f, 50.0f);
_angularVelocity = -30.669577f;
BodyDef bd = new BodyDef();
bd.Position.Set(0.0f, 20.0f);
Body body = _world.CreateBody(bd);
body.CreateFixture(fd);
body.SetLinearVelocity(new Vec2(0.0f, -100.0f));
body.SetAngularVelocity(_angularVelocity);
}
#elif false
{
FixtureDef fd;
fd.SetAsBox(10.0f, 0.1f);
fd.density = 0.0f;
BodyDef bd;
bd.type = BodyDef::e_static;
bd.position.Set(0.0f, -0.2f);
Body* ground = m_world.CreateBody(&bd);
ground.CreateFixture(&fd);
}
{
FixtureDef fd;
fd.SetAsBox(2.0f, 0.1f);
fd.density = 1.0f;
fd.restitution = 0.0f;
BodyDef bd1;
bd1.type = BodyDef::e_dynamic;
bd1.isBullet = true;
bd1.allowSleep = false;
bd1.position.Set(0.0f, 20.0f);
Body* b1 = m_world.Create(&bd1);
b1.CreateFixture(&fd);
b1.SetMassFromShapes();
b1.SetLinearVelocity(Vec2(0.0f, -100.0f));
fd.SetAsBox(1.0f, 0.1f);
BodyDef bd2;
bd2.type = BodyDef::e_dynamic;
bd2.isBullet = true;
bd2.allowSleep = false;
bd2.position.Set(0.0f, 20.2f);
Body* = m_world.Create(&bd2);
.CreateFixture(&fd);
.SetMassFromShapes();
.SetLinearVelocity(Vec2(0.0f, -100.0f));
fd.SetAsBox(0.25f, 0.25f);
fd.density = 10.0f;
BodyDef bd3;
bd3.type = BodyDef::e_dynamic;
bd3.isBullet = true;
bd3.allowSleep = false;
bd3.position.Set(0.0f, 100.0f);
Body* b3 = m_world.Create(&bd3);
b3.CreateFixture(&fd);
b3.SetMassFromShapes();
b3.SetLinearVelocity(Vec2(0.0f, -150.0f));
}
#else
const float32 k_restitution = 1.4f;
{
BodyDef bd;
bd.position.Set(0.0f, 20.0f);
Body* body = m_world.CreateBody(&bd);
FixtureDef fd;
fd.density = 0.0f;
fd.restitution = k_restitution;
fd.SetAsBox(0.1f, 10.0f, Vec2(-10.0f, 0.0f), 0.0f);
body.CreateFixture(&fd);
fd.SetAsBox(0.1f, 10.0f, Vec2(10.0f, 0.0f), 0.0f);
body.CreateFixture(&fd);
fd.SetAsBox(0.1f, 10.0f, Vec2(0.0f, -10.0f), 0.5f * _pi);
body.CreateFixture(&fd);
fd.SetAsBox(0.1f, 10.0f, Vec2(0.0f, 10.0f), -0.5f * _pi);
body.CreateFixture(&fd);
}
#if false
{
FixtureDef sd_bottom;
sd_bottom.SetAsBox(1.0f, 0.1f, Vec2(0.0f, -1.0f), 0.0f);
sd_bottom.density = 4.0f;
FixtureDef sd_top;
sd_top.SetAsBox(1.0f, 0.1f, Vec2(0.0f, 1.0f), 0.0f);
sd_top.density = 4.0f;
FixtureDef sd_left;
sd_left.SetAsBox(0.1f, 1.0f, Vec2(-1.0f, 0.0f), 0.0f);
sd_left.density = 4.0f;
FixtureDef sd_right;
sd_right.SetAsBox(0.1f, 1.0f, Vec2(1.0f, 0.0f), 0.0f);
sd_right.density = 4.0f;
BodyDef bd;
bd.type = BodyDef::e_dynamicBody;
bd.position.Set(0.0f, 15.0f);
Body* body = m_world.CreateBody(&bd);
body.CreateFixture(&sd_bottom);
body.CreateFixture(&sd_top);
body.CreateFixture(&sd_left);
body.CreateFixture(&sd_right);
body.SetMassFromShapes();
}
#elif false
{
FixtureDef sd_bottom;
sd_bottom.SetAsBox( 1.5f, 0.15f );
sd_bottom.density = 4.0f;
FixtureDef sd_left;
sd_left.SetAsBox(0.15f, 2.7f, Vec2(-1.45f, 2.35f), 0.2f);
sd_left.density = 4.0f;
FixtureDef sd_right;
sd_right.SetAsBox(0.15f, 2.7f, Vec2(1.45f, 2.35f), -0.2f);
sd_right.density = 4.0f;
BodyDef bd;
bd.position.Set( 0.0f, 15.0f );
Body* body = m_world.CreateBody(&bd);
body.CreateFixture(&sd_bottom);
body.CreateFixture(&sd_left);
body.CreateFixture(&sd_right);
body.SetMassFromShapes();
}
#else
{
BodyDef bd;
bd.position.Set(-5.0f, 20.0f);
bd.isBullet = true;
Body* body = m_world.CreateBody(&bd);
body.SetAngularVelocity(RandomFloat(-50.0f, 50.0f));
FixtureDef fd;
fd.SetAsBox(0.1f, 4.0f);
fd.density = 1.0f;
fd.restitution = 0.0f;
body.CreateFixture(&fd);
body.SetMassFromShapes();
}
#endif
for (int32 i = 0; i < 0; ++i)
{
BodyDef bd;
bd.position.Set(0.0f, 15.0f + i);
bd.isBullet = true;
Body* body = m_world.CreateBody(&bd);
body.SetAngularVelocity(RandomFloat(-50.0f, 50.0f));
FixtureDef fd;
fd.radius = 0.25f;
fd.density = 1.0f;
fd.restitution = 0.0f;
body.CreateFixture(&fd);
body.SetMassFromShapes();
}
#endif
}
public void LaunchBomb(Vec2 position, Vec2 velocity)
{
if (_bomb != null)
{
_world.DestroyBody(_bomb);
_bomb = null;
}
BodyDef bd = new BodyDef();
bd.AllowSleep = true;
bd.Position = position;
bd.IsBullet = true;
_bomb = _world.CreateBody(bd);
_bomb.SetLinearVelocity(velocity);
CircleShape circle = new CircleShape();
circle._radius = 0.3f;
FixtureDef fd = new FixtureDef();
fd.Shape = circle;
fd.Density = 20.0f;
fd.Restitution = 0.1f;
Vec2 minV = position - new Vec2(0.3f, 0.3f);
Vec2 maxV = position + new Vec2(0.3f, 0.3f);
AABB aabb = new AABB();
aabb.LowerBound = minV;
aabb.UpperBound = maxV;
_bomb.CreateFixture(fd);
}
void Create(int index)
{
if (_bodies[_bodyIndex] != null)
{
_world.DestroyBody(_bodies[_bodyIndex]);
_bodies[_bodyIndex] = null;
}
BodyDef bd = new BodyDef();
float x = Math.Random(-10.0f, 10.0f);
float y = Math.Random(0.0f, 20.0f);
bd.Position.Set(x, y);
bd.Angle = Math.Random(-Box2DX.Common.Settings.PI, Box2DX.Common.Settings.PI);
if (index == 4)
{
bd.AngularDamping = 0.02f;
}
_bodies[_bodyIndex] = _world.CreateBody(bd);
if (index < 4)
{
FixtureDef fd = new FixtureDef();
fd.Shape = _polygons[index];
fd.Friction = 0.3f;
_bodies[_bodyIndex].CreateFixture(fd);
}
else
{
FixtureDef fd = new FixtureDef();
fd.Shape = _circle;
fd.Friction = 0.3f;
_bodies[_bodyIndex].CreateFixture(fd);
}
_bodyIndex = (_bodyIndex + 1) % _maxBodies;
}
public TheoJansen()
{
_offset.Set(0.0f, 8.0f);
_motorSpeed = 2.0f;
_motorOn = true;
Vec2 pivot = new Vec2(0.0f, 0.8f);
// Ground
{
BodyDef bd = new BodyDef();
Body ground = _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);
shape.SetAsEdge(new Vec2(-50.0f, 0.0f), new Vec2(-50.0f, 10.0f));
ground.CreateFixture(shape, 0);
shape.SetAsEdge(new Vec2(50.0f, 0.0f), new Vec2(50.0f, 10.0f));
ground.CreateFixture(shape, 0);
}
// Balls
for (int i = 0; i < 40; ++i)
{
CircleShape shape = new CircleShape();
shape._radius = 0.25f;
BodyDef bd = new BodyDef();
bd.Position.Set(-40.0f + 2.0f * i, 0.5f);
Body body = _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.Position = pivot + _offset;
_chassis = _world.CreateBody(bd);
_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.Position = pivot + _offset;
_wheel = _world.CreateBody(bd);
_wheel.CreateFixture(sd);
}
{
RevoluteJointDef jd = new RevoluteJointDef();
jd.Initialize(_wheel, _chassis, pivot + _offset);
jd.CollideConnected = false;
jd.MotorSpeed = _motorSpeed;
jd.MaxMotorTorque = 400.0f;
jd.EnableMotor = _motorOn;
_motorJoint = (RevoluteJoint)_world.CreateJoint(jd);
}
Vec2 wheelAnchor;
wheelAnchor = pivot + new Vec2(0.0f, -0.8f);
CreateLeg(-1.0f, wheelAnchor);
CreateLeg(1.0f, wheelAnchor);
_wheel.SetTransform(_wheel.GetPosition(), 120.0f * Box2DX.Common.Settings.PI / 180.0f);
CreateLeg(-1.0f, wheelAnchor);
CreateLeg(1.0f, wheelAnchor);
_wheel.SetTransform(_wheel.GetPosition(), -120.0f * Box2DX.Common.Settings.PI / 180.0f);
CreateLeg(-1.0f, wheelAnchor);
CreateLeg(1.0f, wheelAnchor);
}
public CollisionFiltering()
{
// Ground body
{
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(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 = _world.CreateBody(bd);
ground.CreateFixture(sd);
}
// Small triangle
Vec2[] vertices = new Vec2[3];
vertices[0].Set(-1.0f, 0.0f);
vertices[1].Set(1.0f, 0.0f);
vertices[2].Set(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.Position.Set(-5.0f, 2.0f);
Body body1 = _world.CreateBody(triangleBodyDef);
body1.CreateFixture(triangleShapeDef);
// Large triangle (recycle definitions)
vertices[0] *= 2.0f;
vertices[1] *= 2.0f;
vertices[2] *= 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 = _world.CreateBody(triangleBodyDef);
body2.CreateFixture(triangleShapeDef);
// 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.Position.Set(0.0f, 2.0f);
Body body3 = _world.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 = _world.CreateBody(boxBodyDef);
body4.CreateFixture(boxShapeDef);
// Small circle
CircleShape circle = new CircleShape();
circle._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.Position.Set(5.0f, 2.0f);
Body body5 = _world.CreateBody(circleBodyDef);
body5.CreateFixture(circleShapeDef);
// Large circle
circle._radius *= 2.0f;
circleShapeDef.Filter.GroupIndex = k_largeGroup;
circleBodyDef.Position.Set(5.0f, 6.0f);
Body body6 = _world.CreateBody(circleBodyDef);
body6.CreateFixture(circleShapeDef);
}
/// <summary>
/// Creates a fixture and attach it to this body.
/// @warning This function is locked during callbacks.
/// </summary>
/// <param name="def">The fixture definition.</param>
public Fixture CreateFixture(FixtureDef def)
{
Box2DXDebug.Assert(_world._lock == false);
if (_world._lock == true)
{
return null;
}
BroadPhase broadPhase = _world._broadPhase;
Fixture fixture = new Fixture();
fixture.Create(broadPhase, this, _xf, def);
fixture._next = _fixtureList;
_fixtureList = fixture;
++_fixtureCount;
fixture._body = this;
return fixture;
}
public Bridge()
{
Body ground = null;
{
BodyDef bd = new BodyDef();
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);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.5f, 0.125f);
FixtureDef fd = new FixtureDef();
fd.Shape = shape;
fd.Density = 20.0f;
fd.Friction = 0.2f;
RevoluteJointDef jd = new RevoluteJointDef();
const int numPlanks = 30;
Body prevBody = ground;
for (int i = 0; i < _count; ++i)
{
BodyDef bd = new BodyDef();
bd.Position.Set(-14.5f + 1.0f * i, 5.0f);
Body body = _world.CreateBody(bd);
body.CreateFixture(fd);
Vec2 anchor = new Vec2(-15.0f + 1.0f * i, 5.0f);
jd.Initialize(prevBody, body, anchor);
_world.CreateJoint(jd);
if (i == (_count >> 1))
{
_middle = body;
}
prevBody = body;
}
Vec2 anchor2 = new Vec2(-15.0f + 1.0f * _count, 5.0f);
jd.Initialize(prevBody, ground, anchor2);
_world.CreateJoint(jd);
}
for (int i = 0; i < 2; ++i)
{
Vec2[] vertices = new Vec2[3];
vertices[0].Set(-0.5f, 0.0f);
vertices[1].Set(0.5f, 0.0f);
vertices[2].Set(0.0f, 1.5f);
PolygonShape shape = new PolygonShape();
shape.Set(vertices, 3);
FixtureDef fd = new FixtureDef();
fd.Shape = shape;
fd.Density = 1.0f;
BodyDef bd = new BodyDef();
bd.Position.Set(-8.0f + 8.0f * i, 12.0f);
Body body = _world.CreateBody(bd);
body.CreateFixture(fd);
}
for (int i = 0; i < 3; ++i)
{
CircleShape shape = new CircleShape();
shape._radius = 0.5f;
FixtureDef fd = new FixtureDef();
fd.Shape = shape;
fd.Density = 1.0f;
BodyDef bd = new BodyDef();
bd.Position.Set(-6.0f + 6.0f * i, 10.0f);
Body body = _world.CreateBody(bd);
body.CreateFixture(fd);
}
}
