Package org.jbox2d.dynamics

Examples of org.jbox2d.dynamics.Body

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    callback.point.set(p);
    callback.fixture = null;
    m_world.queryAABB(callback, queryAABB);

    if (callback.fixture != null) {
      Body body = callback.fixture.getBody();
      MouseJointDef def = new MouseJointDef();
      def.bodyA = groundBody;
      def.bodyB = body;
      def.target.set(p);
      def.maxForce = 1000f * body.getMass();
      mouseJoint = (MouseJoint) m_world.createJoint(def);
      body.setAwake(true);
    }
  }
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  }

  @Override
  public void initTest(boolean argDeserialized) {

    Body ground = null;
    {

      BodyDef bd = new BodyDef();
      bd.position.set(0.0f, 0.0f);
      ground = getWorld().createBody(bd);
      PolygonShape shape = new PolygonShape();
      shape.setAsBox(5.0f, 0.5f);
      ground.createFixture(shape, 0);

      shape.setAsBox(1.0f, 0.2f, new Vec2(0.0f, 4.0f), -0.2f);
      ground.createFixture(shape, 0);
      shape.setAsBox(1.5f, 0.2f, new Vec2(-1.2f, 5.2f), -1.5f);
      ground.createFixture(shape, 0);
      shape.setAsBox(0.5f, 50.0f, new Vec2(5.0f, 0.0f), 0.0f);
      ground.createFixture(shape, 0);



      shape.setAsBox(0.5f, 3.0f, new Vec2(-8.0f, 0.0f), 0.0f);
      ground.createFixture(shape, 0);

      shape.setAsBox(2.0f, 0.1f, new Vec2(-6.0f, -2.8f), 0.1f);
      ground.createFixture(shape, 0);

      CircleShape cd = new CircleShape();
      cd.m_radius = 0.5f;
      cd.m_p.set(-0.5f, -4.0f);
      ground.createFixture(cd, 0);

    }

    liquid = new Body[nParticles];
    float massPerParticle = totalMass / nParticles;
    // PointDef pd = new PointDef();
    // pd.mass = massPerParticle;
    // pd.restitution = 0.0f;
    // pd.filter.groupIndex = -10;
    CircleShape pd = new CircleShape();
    FixtureDef fd = new FixtureDef();
    fd.shape = pd;
    fd.density = 1f;
    fd.filter.groupIndex = -10;
    pd.m_radius = .05f;
    fd.restitution = 0.4f;
    fd.friction = 0.0f;
    float cx = 0.0f;
    float cy = 25.0f;
    for (int i = 0; i < nParticles; ++i) {
      BodyDef bd = new BodyDef();
      bd.position =
          new Vec2(MathUtils.randomFloat(cx - boxWidth * .5f, cx + boxWidth * .5f),
              MathUtils.randomFloat(cy - boxHeight * .5f, cy + boxHeight * .5f));
      bd.fixedRotation = true;
      bd.type = BodyType.DYNAMIC;
      Body b = getWorld().createBody(bd);

      b.createFixture(fd).setUserData(LIQUID_INT);

      MassData md = new MassData();
      md.mass = massPerParticle;
      md.I = 1.0f;
      b.setMassData(md);
      b.setSleepingAllowed(false);
      liquid[i] = b;
    }

    PolygonShape polyDef = new PolygonShape();
    polyDef.setAsBox(MathUtils.randomFloat(0.3f, 0.7f), MathUtils.randomFloat(0.3f, 0.7f));
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        float cy = 15.0f + MathUtils.randomFloat(-2.3f, 2.0f);
        BodyDef bd = new BodyDef();
        bd.position = new Vec2(cx, cy);
        bd.fixedRotation = true;
        bd.type = BodyType.DYNAMIC;
        Body b = getWorld().createBody(bd);
        b.createFixture(fd).setUserData(LIQUID_INT);
        MassData md = new MassData();
        md.mass = massPerParticle;
        md.I = 1.0f;
        b.setMassData(md);
        b.setSleepingAllowed(false);
        liquid[i] = b;
      }
    }

    if (bod.getWorldCenter().y < -15.0f) {
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    point = new Vec2();
    fixture = null;
  }

  public boolean reportFixture(Fixture argFixture) {
    Body body = argFixture.getBody();
    if (body.getType() == BodyType.DYNAMIC) {
      boolean inside = argFixture.testPoint(point);
      if (inside) {
        fixture = argFixture;

        return false;
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    }
  }

  private void dampenLiquid() {
    for (int i = 0; i < liquid.length; ++i) {
      Body b = liquid[i];
      b.setLinearVelocity(b.getLinearVelocity().mul(0.995f));
    }
  }
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    getWorld().setGravity(new Vec2(0.0f, 0.0f));

    final 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), 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), 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 = 5.0f;
      bd.linearDamping = 0.1f;

      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();
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  @Override
  public void runBenchmarkWorld() {
    BroadPhaseStrategy strategy = new DynamicTree();

    world = new World(new Vec2(0.0f, -10.0f), new DefaultWorldPool(100, 10), strategy);
    Body ground = null;
    {
      BodyDef bd = new BodyDef();
      ground = world.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 = world.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) Math.cos(2f * Math.PI * (i / (float) (numPieces)));
        float yPos = radius * (float) Math.sin(2f * Math.PI * (i / (float) (numPieces)));
        cd.m_p.set(xPos, yPos);

        body.createFixture(fd);
      }

      RevoluteJointDef rjd = new RevoluteJointDef();
      rjd.initialize(body, ground, body.getPosition());
      rjd.motorSpeed = MathUtils.PI;
      rjd.maxMotorTorque = 1000000.0f;
      rjd.enableMotor = true;
      world.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 = world.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;
        m_joint1 = (RevoluteJoint) world.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 = world.createBody(bd);
        body.createFixture(shape, 2.0f);

        RevoluteJointDef rjd = new RevoluteJointDef();
        rjd.initialize(prevBody, body, new Vec2(0.0f, 9.0f));
        rjd.enableMotor = false;
        world.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 = world.createBody(bd);
        FixtureDef piston = new FixtureDef();
        piston.shape = shape;
        piston.density = 2;
        piston.filter.categoryBits = 1;
        piston.filter.maskBits = 2;
        body.createFixture(piston);

        RevoluteJointDef rjd = new RevoluteJointDef();
        rjd.initialize(prevBody, body, new Vec2(0.0f, 17.0f));
        world.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;

        m_joint2 = (PrismaticJoint) world.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 = false;
          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 = false;
          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 = false;
          fixture.shape = shape;
          fixture.density = 1f;
          fixture.filter.categoryBits = 2;
          fixture.filter.maskBits = 1 | 4 | 2;
          body = world.createBody(bd);
          body.createFixture(fixture);
        }
      }
    }

    for (int i = 0; i < frames; i++) {
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  public float getReactionTorque(float inv_dt) {
    return inv_dt * m_impulse.z;
  }

  public float getJointAngle() {
    final Body b1 = m_bodyA;
    final Body b2 = m_bodyB;
    return b2.m_sweep.a - b1.m_sweep.a - m_referenceAngle;
  }
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    final Body b2 = m_bodyB;
    return b2.m_sweep.a - b1.m_sweep.a - m_referenceAngle;
  }

  public float getJointSpeed() {
    final Body b1 = m_bodyA;
    final Body b2 = m_bodyB;
    return b2.m_angularVelocity - b1.m_angularVelocity;
  }
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  /**
   * Get the world manifold.
   */
  public void getWorldManifold(WorldManifold worldManifold) {
    final Body bodyA = m_fixtureA.getBody();
    final Body bodyB = m_fixtureB.getBody();
    final Shape shapeA = m_fixtureA.getShape();
    final Shape shapeB = m_fixtureB.getShape();

    worldManifold.initialize(m_manifold, bodyA.getTransform(), shapeA.m_radius,
        bodyB.getTransform(), shapeB.m_radius);
  }
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