Examples of org.jbox2d.dynamics.joints.RevoluteJointDef

org.jbox2d.dynamics.joints.RevoluteJointDef
Revolute joint definition. This requires defining an anchor point where the bodies are joined. The definition uses local anchor points so that the initial configuration can violate the constraint slightly. You also need to specify the initial relative angle for joint limits. This helps when saving and loading a game. The local anchor points are measured from the body's origin rather than the center of mass because:
- you might not know where the center of mass will be.
- if you add/remove shapes from a body and recompute the mass, the joints will be broken.

      shape.setAsBox(20.0f, 0.5f, new Vec2(0.0f, 10.0f), 0.0f);
      body.createFixture(shape, 5.0f);
      shape.setAsBox(20.0f, 0.5f, new Vec2(0.0f, -10.0f), 0.0f);
      body.createFixture(shape, 5.0f);


      RevoluteJointDef jd = new RevoluteJointDef();
      jd.bodyA = getGroundBody();
      jd.bodyB = body;
      jd.localAnchorA.set(0.0f, 10.0f);
      jd.localAnchorB.set(0.0f, 0.0f);
      jd.referenceAngle = 0.0f;

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        def.referenceAngle = joint.getRefAngle();
        def.upperTranslation = joint.getUpperLimit();
        break;
      }
      case REVOLUTE: {
        RevoluteJointDef def = new RevoluteJointDef();
        jd = def;
        def.enableLimit = joint.getEnableLimit();
        def.enableMotor = joint.getEnableMotor();
        def.localAnchorA.set(pbToVec(joint.getLocalAnchorA()));
        def.localAnchorB.set(pbToVec(joint.getLocalAnchorB()));
        def.lowerAngle = joint.getLowerLimit();
        def.maxMotorTorque = joint.getMaxMotorTorque();
        def.motorSpeed = joint.getMotorSpeed();
        def.referenceAngle = joint.getRefAngle();
        def.upperAngle = joint.getUpperLimit();
        break;
      }
      case DISTANCE: {
        DistanceJointDef def = new DistanceJointDef();
        jd = def;
        def.localAnchorA.set(pbToVec(joint.getLocalAnchorA()));
        def.localAnchorB.set(pbToVec(joint.getLocalAnchorB()));
        def.dampingRatio = joint.getDampingRatio();
        def.frequencyHz = joint.getFrequency();
        def.length = joint.getLength();
        break;
      }
      case PULLEY: {
        PulleyJointDef def = new PulleyJointDef();
        jd = def;
        def.localAnchorA.set(pbToVec(joint.getLocalAnchorA()));
        def.localAnchorB.set(pbToVec(joint.getLocalAnchorB()));
        def.groundAnchorA.set(pbToVec(joint.getGroundAnchorA()));
        def.groundAnchorB.set(pbToVec(joint.getGroundAnchorB()));
        def.lengthA = joint.getLengthA();
        def.lengthB = joint.getLengthB();
        def.ratio = joint.getRatio();
        break;
      }
      case MOUSE: {
        MouseJointDef def = new MouseJointDef();
        jd = def;
        def.dampingRatio = joint.getDampingRatio();
        def.frequencyHz = joint.getFrequency();
        def.maxForce = joint.getMaxForce();
        def.target.set(pbToVec(joint.getTarget()));
        break;
      }
      case GEAR: {
        GearJointDef def = new GearJointDef();
        jd = def;
        if (!jointMap.containsKey(joint.getJoint1())) {
          throw new IllegalArgumentException("Index " + joint.getJoint1()
              + " is not present in the joint map.");
        }
        def.joint1 = jointMap.get(joint.getJoint1());
        if (!jointMap.containsKey(joint.getJoint2())) {
          throw new IllegalArgumentException("Index " + joint.getJoint2()
              + " is not present in the joint map.");
        }
        def.joint2 = jointMap.get(joint.getJoint2());
        def.ratio = joint.getRatio();
        break;
      }
      case WHEEL: {
        WheelJointDef def = new WheelJointDef();
        jd = def;
        def.localAnchorA.set(pbToVec(joint.getLocalAnchorA()));
        def.localAnchorB.set(pbToVec(joint.getLocalAnchorB()));
        def.localAxisA.set(pbToVec(joint.getLocalAxisA()));
        def.enableMotor = joint.getEnableMotor();
        def.maxMotorTorque = joint.getMaxMotorTorque();
        def.motorSpeed = joint.getMotorSpeed();
        def.frequencyHz = joint.getFrequency();
        def.dampingRatio = joint.getDampingRatio();
        break;
      }
      case WELD: {
        WeldJointDef def = new WeldJointDef();
        jd = def;
        def.localAnchorA.set(pbToVec(joint.getLocalAnchorA()));
        def.localAnchorB.set(pbToVec(joint.getLocalAnchorB()));
        def.referenceAngle = joint.getRefAngle();
        def.frequencyHz = joint.getFrequency();
        def.dampingRatio = joint.getDampingRatio();
        break;
      }
      case FRICTION: {
        FrictionJointDef def = new FrictionJointDef();
        jd = def;
        def.localAnchorA.set(pbToVec(joint.getLocalAnchorA()));
        def.localAnchorB.set(pbToVec(joint.getLocalAnchorB()));
        def.maxForce = joint.getMaxForce();
        def.maxTorque = joint.getMaxTorque();
        break;
      }
      case ROPE: {
        RopeJointDef def = new RopeJointDef();
        jd = def;
        def.localAnchorA.set(pbToVec(joint.getLocalAnchorA()));
        def.localAnchorB.set(pbToVec(joint.getLocalAnchorB()));
        def.maxLength = joint.getMaxLength();
        return null;
      }
      case CONSTANT_VOLUME: {
        ConstantVolumeJointDef def = new ConstantVolumeJointDef();
        jd = def;
        def.dampingRatio = joint.getDampingRatio();
        def.frequencyHz = joint.getFrequency();
        if (joint.getBodiesCount() != joint.getJointsCount()) {
          throw new IllegalArgumentException(
              "Constant volume joint must have bodies and joints defined");
        }
        for (int i = 0; i < joint.getBodiesCount(); i++) {
          int body = joint.getBodies(i);
          if (!argBodyMap.containsKey(body)) {
            throw new IllegalArgumentException("Index " + body + " is not present in the body map");
          }
          int jointIndex = joint.getJoints(i);
          if (!jointMap.containsKey(jointIndex)) {
            throw new IllegalArgumentException("Index " + jointIndex
                + " is not present in the joint map");
          }
          Joint djoint = jointMap.get(jointIndex);
          if (!(djoint instanceof DistanceJoint)) {
            throw new IllegalArgumentException(
                "Joints for constant volume joint must be distance joints");
          }
          def.addBodyAndJoint(argBodyMap.get(body), (DistanceJoint) djoint);
        }
        break;
      }
      case LINE: {
        UnsupportedObjectException e =

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      m_wheel = getWorld().createBody(bd);
      m_wheel.createFixture(sd);
    }


    {
      RevoluteJointDef jd = new RevoluteJointDef();


      jd.initialize(m_wheel, m_chassis, pivot.add(m_offset));
      jd.collideConnected = false;
      jd.motorSpeed = m_motorSpeed;
      jd.maxMotorTorque = 400.0f;
      jd.enableMotor = m_motorOn;
      m_motorJoint = (RevoluteJoint) getWorld().createJoint(jd);

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    getWorld().createJoint(djd);


    djd.initialize(body2, m_wheel, p6.add(m_offset), wheelAnchor.add(m_offset));
    getWorld().createJoint(djd);


    RevoluteJointDef rjd = new RevoluteJointDef();


    rjd.initialize(body2, m_chassis, p4.add(m_offset));
    getWorld().createJoint(rjd);
  }

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


    RevoluteJointDef jointDef = new RevoluteJointDef();


    if (switchBodiesInJoint)
      jointDef.initialize(pendulum, base, new Vec2(0, 0));
    else
      jointDef.initialize(base, pendulum, new Vec2(0, 0));


    getWorld().createJoint(jointDef);
  }

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      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();

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        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));

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      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);

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      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;
          fd.filter.categoryBits = 0x0002;
          bd.position.set(1.0f * i, y);
          bd.angularDamping = 0.4f;
        }


        Body body = getWorld().createBody(bd);


        body.createFixture(fd);


        Vec2 anchor = new Vec2(i, y);
        jd.initialize(prevBody, body, anchor);
        getWorld().createJoint(jd);


        prevBody = body;
      }

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      shape.setAsBox(10.0f, 0.5f, new Vec2(0.0f, 10.0f), 0.0f);
      body.createFixture(shape, 5.0f);
      shape.setAsBox(10.0f, 0.5f, new Vec2(0.0f, -10.0f), 0.0f);
      body.createFixture(shape, 5.0f);


      RevoluteJointDef jd = new RevoluteJointDef();
      jd.bodyA = getGroundBody();
      jd.bodyB = body;
      jd.localAnchorA.set(0.0f, 10.0f);
      jd.localAnchorB.set(0.0f, 0.0f);
      jd.referenceAngle = 0.0f;

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org.jbox2d.serialization.pb.PbDeserializer

org.jbox2d.testbed.tests.BodyTypes

org.jbox2d.testbed.tests.Car

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org.jbox2d.testbed.tests.CircleStress

org.jbox2d.testbed.tests.FixedPendulumTest

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