Package org.jbox2d.dynamics

Examples of org.jbox2d.dynamics.BodyDef

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    {
      CircleShape circleShape = new CircleShape();
      circleShape.m_radius = 1;
      Shape shape = circleShape;

      BodyDef bodyDef = new BodyDef();
      bodyDef.type = BodyType.DYNAMIC;
      bodyDef.position.set(-5, 0);
      bodyDef.allowSleep = false;
      pendulum = getWorld().createBody(bodyDef);
      pendulum.createFixture(shape, 1);
    }

    {
      PolygonShape shape = new PolygonShape();
      shape.setAsBox(1, 1);

      BodyDef bodyDef = new BodyDef();
      bodyDef.type = BodyType.DYNAMIC;
      bodyDef.position.set(0, 2);
      bodyDef.allowSleep = false;
      base = getWorld().createBody(bodyDef);
      base.createFixture(shape, 1);
    }

    {
      PolygonShape shape = new PolygonShape();
      shape.setAsBox(3, 1);

      BodyDef bodyDef = new BodyDef();
      bodyDef.type = BodyType.STATIC;
      ground = getWorld().createBody(bodyDef);
      ground.createFixture(shape, 0);
    }
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      return;
    }

    Body ground = null;
    {
      BodyDef bd = new BodyDef();
      ground = getWorld().createBody(bd);

      EdgeShape shape = new EdgeShape();
      shape.set(new Vec2(-20.0f, 0.0f), new Vec2(20.0f, 0.0f));

      FixtureDef fd = new FixtureDef();
      fd.shape = shape;

      ground.createFixture(fd);
    }

    // Define attachment
    {
      BodyDef bd = new BodyDef();
      bd.type = BodyType.DYNAMIC;
      bd.position.set(0.0f, 3.0f);
      m_attachment = getWorld().createBody(bd);

      PolygonShape shape = new PolygonShape();
      shape.setAsBox(0.5f, 2.0f);
      m_attachment.createFixture(shape, 2.0f);
    }

    // Define platform
    {
      BodyDef bd = new BodyDef();
      bd.type = BodyType.DYNAMIC;
      bd.position.set(-4.0f, 5.0f);
      m_platform = getWorld().createBody(bd);

      PolygonShape shape = new PolygonShape();
      shape.setAsBox(0.5f, 4.0f, new Vec2(4.0f, 0.0f), 0.5f * MathUtils.PI);

      FixtureDef fd = new FixtureDef();
      fd.shape = shape;
      fd.friction = 0.6f;
      fd.density = 2.0f;
      m_platform.createFixture(fd);

      RevoluteJointDef rjd = new RevoluteJointDef();
      rjd.initialize(m_attachment, m_platform, new Vec2(0.0f, 5.0f));
      rjd.maxMotorTorque = 50.0f;
      rjd.enableMotor = true;
      getWorld().createJoint(rjd);

      PrismaticJointDef pjd = new PrismaticJointDef();
      pjd.initialize(ground, m_platform, new Vec2(0.0f, 5.0f), new Vec2(1.0f, 0.0f));

      pjd.maxMotorForce = 1000.0f;
      pjd.enableMotor = true;
      pjd.lowerTranslation = -10.0f;
      pjd.upperTranslation = 10.0f;
      pjd.enableLimit = true;

      getWorld().createJoint(pjd);

    }

    // .create a payload
    {
      BodyDef bd = new BodyDef();
      bd.type = BodyType.DYNAMIC;
      bd.position.set(0.0f, 8.0f);
      Body body = getWorld().createBody(bd);

      PolygonShape shape = new PolygonShape();
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public class DamBreak extends TestbedTest {

  @Override
  public void initTest(boolean deserialized) {
    {
      BodyDef bd = new BodyDef();
      Body ground = m_world.createBody(bd);

      ChainShape shape = new ChainShape();
      Vec2[] vertices =
          new Vec2[] {new Vec2(-20, 0), new Vec2(20, 0), new Vec2(20, 40), new Vec2(-20, 40)};
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    if (deserialized) {
      return;
    }

    {
      BodyDef bd = new BodyDef();
      bd.position.set(0.0f, 0.0f);
      Body body = getWorld().createBody(bd);

      EdgeShape shape = new EdgeShape();
      shape.set(new Vec2(50.0f, 0.0f), new Vec2(-50.0f, 0.0f));

      body.createFixture(shape, 0.0f);
    }

    {
      CircleShape circle1 = new CircleShape();
      circle1.m_radius = 0.5f;
      circle1.m_p.set(-0.5f, 0.5f);

      CircleShape circle2 = new CircleShape();;
      circle2.m_radius = 0.5f;
      circle2.m_p.set(0.5f, 0.5f);

      for (int i = 0; i < 10; ++i) {
        float x = MathUtils.randomFloat(-0.1f, 0.1f);
        BodyDef bd = new BodyDef();
        bd.type = BodyType.DYNAMIC;
        bd.position.set(x + 5.0f, 1.05f + 2.5f * i);
        bd.angle = MathUtils.randomFloat(-MathUtils.PI, MathUtils.PI);
        Body body = getWorld().createBody(bd);
        body.createFixture(circle1, 2.0f);
        body.createFixture(circle2, 0.0f);
      }
    }

    {
      PolygonShape polygon1 = new PolygonShape();
      polygon1.setAsBox(0.25f, 0.5f);

      PolygonShape polygon2 = new PolygonShape();
      polygon2.setAsBox(0.25f, 0.5f, new Vec2(0.0f, -0.5f), 0.5f * MathUtils.PI);

      for (int i = 0; i < 10; ++i) {
        float x = MathUtils.randomFloat(-0.1f, 0.1f);
        BodyDef bd = new BodyDef();
        bd.type = BodyType.DYNAMIC;
        bd.position.set(x - 5.0f, 1.05f + 2.5f * i);
        bd.angle = MathUtils.randomFloat(-MathUtils.PI, MathUtils.PI);
        Body body = getWorld().createBody(bd);
        body.createFixture(polygon1, 2.0f);
        body.createFixture(polygon2, 2.0f);
      }
    }

    {
      Transform xf1 = new Transform();
      xf1.q.set(0.3524f * MathUtils.PI);
      Rot.mulToOut(xf1.q, new Vec2(1.0f, 0.0f), xf1.p);

      Vec2[] vertices = new Vec2[3];

      PolygonShape triangle1 = new PolygonShape();
      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));
      triangle1.set(vertices, 3);

      Transform xf2 = new Transform();
      xf2.q.set(-0.3524f * MathUtils.PI);
      Rot.mulToOut(xf2.q, new Vec2(-1.0f, 0.0f), xf2.p);

      PolygonShape triangle2 = new PolygonShape();
      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));
      triangle2.set(vertices, 3);

      for (int i = 0; i < 10; ++i) {
        float x = MathUtils.randomFloat(-0.1f, 0.1f);
        BodyDef bd = new BodyDef();
        bd.type = BodyType.DYNAMIC;
        bd.position.set(x, 2.05f + 2.5f * i);
        bd.angle = 0.0f;
        Body body = getWorld().createBody(bd);
        body.createFixture(triangle1, 2.0f);
        body.createFixture(triangle2, 2.0f);
      }
    }

    {
      PolygonShape bottom = new PolygonShape();
      bottom.setAsBox(1.5f, 0.15f);

      PolygonShape left = new PolygonShape();
      left.setAsBox(0.15f, 2.7f, new Vec2(-1.45f, 2.35f), 0.2f);

      PolygonShape right = new PolygonShape();
      right.setAsBox(0.15f, 2.7f, new Vec2(1.45f, 2.35f), -0.2f);

      BodyDef bd = new BodyDef();
      bd.type = BodyType.DYNAMIC;
      bd.position.set(0.0f, 2.0f);
      Body body = getWorld().createBody(bd);
      body.createFixture(bottom, 4.0f);
      body.createFixture(left, 4.0f);
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      return;
    }
    World world = getWorld();
    Body ground = null;
    {
      BodyDef bd = new BodyDef();
      ground = getWorld().createBody(bd);

      PolygonShape shape = new PolygonShape();
      shape.setAsBox(5.0f, 100.0f);
      bd = new BodyDef();
      bd.type = BodyType.STATIC;
      FixtureDef sides = new FixtureDef();
      sides.shape = shape;
      sides.density = 0;
      sides.friction = 0;
      sides.restitution = .8f;
      sides.filter.categoryBits = 4;
      sides.filter.maskBits = 2;

      bd.position.set(-10.01f, 50.0f);
      Body bod = world.createBody(bd);
      bod.createFixture(sides);
      bd.position.set(10.01f, 50.0f);
      bod = world.createBody(bd);
      bod.createFixture(sides);
    }

    // turney
    {
      CircleShape cd;
      FixtureDef fd = new FixtureDef();
      BodyDef bd = new BodyDef();
      bd.type = BodyType.DYNAMIC;
      int numPieces = 5;
      float radius = 4f;
      bd.position = new Vec2(0.0f, 25.0f);
      Body body = getWorld().createBody(bd);
      for (int i = 0; i < numPieces; i++) {
        cd = new CircleShape();
        cd.m_radius = .5f;
        fd.shape = cd;
        fd.density = 25;
        fd.friction = .1f;
        fd.restitution = .9f;
        float xPos = radius * (float) 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, getGroundBody(), body.getPosition());
      rjd.motorSpeed = MathUtils.PI;
      rjd.maxMotorTorque = 1000000.0f;
      rjd.enableMotor = true;
      getWorld().createJoint(rjd);
    }


    {
      Body prevBody = ground;

      // Define crank.
      {
        PolygonShape shape = new PolygonShape();
        shape.setAsBox(0.5f, 2.0f);

        BodyDef bd = new BodyDef();
        bd.type = BodyType.DYNAMIC;
        bd.position.set(0.0f, 7.0f);
        Body body = getWorld().createBody(bd);
        body.createFixture(shape, 2.0f);

        RevoluteJointDef rjd = new RevoluteJointDef();
        rjd.initialize(prevBody, body, new Vec2(0.0f, 5.0f));
        rjd.motorSpeed = 1.0f * MathUtils.PI;
        rjd.maxMotorTorque = 20000;
        rjd.enableMotor = true;
        getWorld().createJoint(rjd);

        prevBody = body;
      }

      // Define follower.
      {
        PolygonShape shape = new PolygonShape();
        shape.setAsBox(0.5f, 4.0f);

        BodyDef bd = new BodyDef();
        bd.type = BodyType.DYNAMIC;
        bd.position.set(0.0f, 13.0f);
        Body body = getWorld().createBody(bd);
        body.createFixture(shape, 2.0f);

        RevoluteJointDef rjd = new RevoluteJointDef();
        rjd.initialize(prevBody, body, new Vec2(0.0f, 9.0f));
        rjd.enableMotor = false;
        getWorld().createJoint(rjd);

        prevBody = body;
      }

      // Define piston
      {
        PolygonShape shape = new PolygonShape();
        shape.setAsBox(7f, 2f);

        BodyDef bd = new BodyDef();
        bd.type = BodyType.DYNAMIC;
        bd.position.set(0.0f, 17.0f);
        Body body = getWorld().createBody(bd);
        FixtureDef piston = new FixtureDef();
        piston.shape = shape;
        piston.density = 2;
        piston.filter.categoryBits = 1;
        piston.filter.maskBits = 2;
        body.createFixture(piston);
        body.setBullet(false);
       
        RevoluteJointDef rjd = new RevoluteJointDef();
        rjd.initialize(prevBody, body, new Vec2(0.0f, 17.0f));
        getWorld().createJoint(rjd);

        PrismaticJointDef pjd = new PrismaticJointDef();
        pjd.initialize(ground, body, new Vec2(0.0f, 17.0f), new Vec2(0.0f, 1.0f));

        pjd.maxMotorForce = 1000.0f;
        pjd.enableMotor = true;

        getWorld().createJoint(pjd);
      }

      // Create a payload
      {
        PolygonShape sd = new PolygonShape();
        BodyDef bd = new BodyDef();
        bd.type = BodyType.DYNAMIC;
        FixtureDef fixture = new FixtureDef();
        Body body;
        for (int i = 0; i < 100; ++i) {
          sd.setAsBox(0.4f, 0.3f);
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  @Override
  public void initTest(boolean argDeserialized) {
    Body ground = null;
    {
      BodyDef bd = new BodyDef();
      ground = getWorld().createBody(bd);

      EdgeShape shape = new EdgeShape();
      shape.set(new Vec2(50.0f, 0.0f), new Vec2(-50.0f, 0.0f));
      ground.createFixture(shape, 0.0f);
    }

    {
      CircleShape circle1 = new CircleShape();
      circle1.m_radius = 1.0f;

      PolygonShape box = new PolygonShape();
      box.setAsBox(0.5f, 5.0f);

      CircleShape circle2 = new CircleShape();
      circle2.m_radius = 2.0f;

      BodyDef bd1 = new BodyDef();
      bd1.type = BodyType.STATIC;
      bd1.position.set(10.0f, 9.0f);
      Body body1 = m_world.createBody(bd1);
      body1.createFixture(circle1, 5.0f);

      BodyDef bd2 = new BodyDef();
      bd2.type = BodyType.DYNAMIC;
      bd2.position.set(10.0f, 8.0f);
      Body body2 = m_world.createBody(bd2);
      body2.createFixture(box, 5.0f);

      BodyDef bd3 = new BodyDef();
      bd3.type = BodyType.DYNAMIC;
      bd3.position.set(10.0f, 6.0f);
      Body body3 = m_world.createBody(bd3);
      body3.createFixture(circle2, 5.0f);

      RevoluteJointDef jd1 = new RevoluteJointDef();
      jd1.initialize(body2, body1, bd1.position);
      Joint joint1 = m_world.createJoint(jd1);

      RevoluteJointDef jd2 = new RevoluteJointDef();
      jd2.initialize(body2, body3, bd3.position);
      Joint joint2 = m_world.createJoint(jd2);

      GearJointDef jd4 = new GearJointDef();
      jd4.bodyA = body1;
      jd4.bodyB = body3;
      jd4.joint1 = joint1;
      jd4.joint2 = joint2;
      jd4.ratio = circle2.m_radius / circle1.m_radius;
      m_world.createJoint(jd4);
    }

    {
      CircleShape circle1 = new CircleShape();
      circle1.m_radius = 1.0f;

      CircleShape circle2 = new CircleShape();
      circle2.m_radius = 2.0f;

      PolygonShape box = new PolygonShape();
      box.setAsBox(0.5f, 5.0f);

      BodyDef bd1 = new BodyDef();
      bd1.type = BodyType.DYNAMIC;
      bd1.position.set(-3.0f, 12.0f);
      Body body1 = m_world.createBody(bd1);
      body1.createFixture(circle1, 5.0f);

      RevoluteJointDef jd1 = new RevoluteJointDef();
      jd1.bodyA = ground;
      jd1.bodyB = body1;
      ground.getLocalPointToOut(bd1.position, jd1.localAnchorA);
      body1.getLocalPointToOut(bd1.position, jd1.localAnchorB);
      jd1.referenceAngle = body1.getAngle() - ground.getAngle();
      m_joint1 = (RevoluteJoint) m_world.createJoint(jd1);

      BodyDef bd2 = new BodyDef();
      bd2.type = BodyType.DYNAMIC;
      bd2.position.set(0.0f, 12.0f);
      Body body2 = m_world.createBody(bd2);
      body2.createFixture(circle2, 5.0f);

      RevoluteJointDef jd2 = new RevoluteJointDef();
      jd2.initialize(ground, body2, bd2.position);
      m_joint2 = (RevoluteJoint) m_world.createJoint(jd2);

      BodyDef bd3 = new BodyDef();
      bd3.type = BodyType.DYNAMIC;
      bd3.position.set(2.5f, 12.0f);
      Body body3 = m_world.createBody(bd3);
      body3.createFixture(box, 5.0f);
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      return;
    }

    Body ground = null;
    {
      BodyDef bd = new BodyDef();
      ground = getWorld().createBody(bd);

      EdgeShape shape = new EdgeShape();
      shape.set(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
      ground.createFixture(shape, 0.0f);
    }

    {
      PolygonShape shape = new PolygonShape();
      shape.setAsBox(0.5f, 0.125f);

      FixtureDef fd = new FixtureDef();
      fd.shape = shape;
      fd.density = 20.0f;
      fd.friction = 0.2f;
      fd.filter.categoryBits = 0x0001;
      fd.filter.maskBits = 0xFFFF & ~0x0002;

      RevoluteJointDef jd = new RevoluteJointDef();
      jd.collideConnected = false;

      final int N = 10;
      final float y = 15.0f;
      m_ropeDef = new RopeJointDef();
      m_ropeDef.localAnchorA.set(0.0f, y);

      Body prevBody = ground;
      for (int i = 0; i < N; ++i) {
        BodyDef bd = new BodyDef();
        bd.type = BodyType.DYNAMIC;
        bd.position.set(0.5f + 1.0f * i, y);
        if (i == N - 1) {
          shape.setAsBox(1.5f, 1.5f);
          fd.density = 100.0f;
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  int m_count;

  @Override
  public void initTest(boolean deserialized) {
    {
      BodyDef bd = new BodyDef();
      bd.type = BodyType.DYNAMIC;
      bd.allowSleep = false;
      bd.position.set(0.0f, 10.0f);
      Body body = m_world.createBody(bd);
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  @Override
  public synchronized void step(TestbedSettings settings) {
    super.step(settings);

    if (m_count < MAX_NUM) {
      BodyDef bd = new BodyDef();
      bd.type = BodyType.DYNAMIC;
      bd.position.set(0.0f, 10.0f);
      Body body = m_world.createBody(bd);

      PolygonShape shape = new PolygonShape();
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public class LiquidTimer extends TestbedTest {

  @Override
  public void initTest(boolean deserialized) {
    {
      BodyDef bd = new BodyDef();
      Body ground = m_world.createBody(bd);

      ChainShape shape = new ChainShape();
      final Vec2[] vertices =
          new Vec2[] {new Vec2(-20, 0), new Vec2(20, 0), new Vec2(20, 40), new Vec2(-20, 40)};
      shape.createLoop(vertices, 4);
      ground.createFixture(shape, 0.0f);

    }

    m_world.setParticleRadius(0.15f);
    {
      PolygonShape shape = new PolygonShape();
      shape.setAsBox(20, 4, new Vec2(0, 36), 0);
      ParticleGroupDef pd = new ParticleGroupDef();
      pd.flags = ParticleType.b2_tensileParticle | ParticleType.b2_viscousParticle;
      pd.shape = shape;
      m_world.createParticleGroup(pd);
    }

    {
      BodyDef bd = new BodyDef();
      Body body = m_world.createBody(bd);
      EdgeShape shape = new EdgeShape();
      shape.set(new Vec2(-20, 32), new Vec2(-12, 32));
      body.createFixture(shape, 0.1f);
    }

    {
      BodyDef bd = new BodyDef();
      Body body = m_world.createBody(bd);
      EdgeShape shape = new EdgeShape();
      shape.set(new Vec2(-11, 32), new Vec2(20, 32));
      body.createFixture(shape, 0.1f);
    }

    {
      BodyDef bd = new BodyDef();
      Body body = m_world.createBody(bd);
      EdgeShape shape = new EdgeShape();
      shape.set(new Vec2(-12, 32), new Vec2(-12, 28));
      body.createFixture(shape, 0.1f);
    }

    {
      BodyDef bd = new BodyDef();
      Body body = m_world.createBody(bd);
      EdgeShape shape = new EdgeShape();
      shape.set(new Vec2(-11, 32), new Vec2(-11, 28));
      body.createFixture(shape, 0.1f);
    }

    {
      BodyDef bd = new BodyDef();
      Body body = m_world.createBody(bd);
      EdgeShape shape = new EdgeShape();
      shape.set(new Vec2(-16, 24), new Vec2(8, 20));
      body.createFixture(shape, 0.1f);
    }

    {
      BodyDef bd = new BodyDef();
      Body body = m_world.createBody(bd);
      EdgeShape shape = new EdgeShape();
      shape.set(new Vec2(16, 16), new Vec2(-8, 12));
      body.createFixture(shape, 0.1f);
    }

    {
      BodyDef bd = new BodyDef();
      Body body = m_world.createBody(bd);
      EdgeShape shape = new EdgeShape();
      shape.set(new Vec2(-12, 8), new Vec2(-12, 0));
      body.createFixture(shape, 0.1f);
    }

    {
      BodyDef bd = new BodyDef();
      Body body = m_world.createBody(bd);
      EdgeShape shape = new EdgeShape();
      shape.set(new Vec2(-4, 8), new Vec2(-4, 0));
      body.createFixture(shape, 0.1f);
    }

    {
      BodyDef bd = new BodyDef();
      Body body = m_world.createBody(bd);
      EdgeShape shape = new EdgeShape();
      shape.set(new Vec2(4, 8), new Vec2(4, 0));
      body.createFixture(shape, 0.1f);
    }

    {
      BodyDef bd = new BodyDef();
      Body body = m_world.createBody(bd);
      EdgeShape shape = new EdgeShape();
      shape.set(new Vec2(12, 8), new Vec2(12, 0));
      body.createFixture(shape, 0.1f);
    }
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