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.

    //
    // JOINT TEST ENGINE AGAINST SHIP!
    //
    // TODO: 
    //
    RevoluteJointDef jointDef = new RevoluteJointDef();    
    jointDef.initialize(playerShip.getBody(), mainEngine.getBody(), new Vec2((float)respawnPos.getX(), (float)respawnPos.getY()));
    jointDef.collideConnected = false;
    jointDef.enableMotor = false;
    jointDef.lowerAngle = 0.0f;
    jointDef.upperAngle = 0.0f;
    jointDef.enableLimit = true;

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        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));

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            }
        }
    }


    private void joinReelToAxis() {
        RevoluteJointDef jointDef = new RevoluteJointDef();
        jointDef.bodyA = axis;
        jointDef.bodyB = reel;
        world.createJoint(jointDef);
    }

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        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));

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      FixtureDef fd = new FixtureDef();
      fd.shape = shape;
      fd.density = 20.0f;
      fd.friction = 0.2f;


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


      final float y = 25.0f;
      Body prevBody = ground;
      for (int i = 0; i < 30; ++i) {
        BodyDef bd = new BodyDef();
        bd.type = BodyType.DYNAMIC;
        bd.position.set(0.5f + i, y);
        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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      PolygonShape box = new PolygonShape();
      box.setAsBox(10.0f, 0.25f);
      body.createFixture(box, 1.0f);


      RevoluteJointDef jd = new RevoluteJointDef();
      jd.initialize(ground, body, body.getPosition());
      jd.lowerAngle = -8.0f * MathUtils.PI / 180.0f;
      jd.upperAngle = 8.0f * MathUtils.PI / 180.0f;
      jd.enableLimit = true;
      m_world.createJoint(jd);


      body.applyAngularImpulse(100.0f);
    }


    // Bridge
    {
      int N = 20;
      PolygonShape shape = new PolygonShape();
      shape.setAsBox(1.0f, 0.125f);


      FixtureDef fd = new FixtureDef();
      fd.shape = shape;
      fd.density = 1.0f;
      fd.friction = 0.6f;


      RevoluteJointDef jd = new RevoluteJointDef();


      Body prevBody = ground;
      for (int i = 0; i < N; ++i) {
        BodyDef bd = new BodyDef();
        bd.type = BodyType.DYNAMIC;
        bd.position.set(161.0f + 2.0f * i, -0.125f);
        Body body = m_world.createBody(bd);
        body.createFixture(fd);


        Vec2 anchor = new Vec2(160.0f + 2.0f * i, -0.125f);
        jd.initialize(prevBody, body, anchor);
        m_world.createJoint(jd);


        prevBody = body;
      }


      Vec2 anchor = new Vec2(160.0f + 2.0f * N, -0.125f);
      jd.initialize(prevBody, ground, anchor);
      m_world.createJoint(jd);
    }


    // Boxes
    {
      PolygonShape box = new PolygonShape();
      box.setAsBox(0.5f, 0.5f);


      Body body = null;
      BodyDef bd = new BodyDef();
      bd.type = BodyType.DYNAMIC;


      bd.position.set(230.0f, 0.5f);
      body = m_world.createBody(bd);
      body.createFixture(box, 0.5f);


      bd.position.set(230.0f, 1.5f);
      body = m_world.createBody(bd);
      body.createFixture(box, 0.5f);


      bd.position.set(230.0f, 2.5f);
      body = m_world.createBody(bd);
      body.createFixture(box, 0.5f);


      bd.position.set(230.0f, 3.5f);
      body = m_world.createBody(bd);
      body.createFixture(box, 0.5f);


      bd.position.set(230.0f, 4.5f);
      body = m_world.createBody(bd);
      body.createFixture(box, 0.5f);
    }


    // Car
    {
      PolygonShape chassis = new PolygonShape();
      Vec2 vertices[] = new Vec2[8];
      vertices[0] = new Vec2(-1.5f, -0.5f);
      vertices[1] = new Vec2(1.5f, -0.5f);
      vertices[2] = new Vec2(1.5f, 0.0f);
      vertices[3] = new Vec2(0.0f, 0.9f);
      vertices[4] = new Vec2(-1.15f, 0.9f);
      vertices[5] = new Vec2(-1.5f, 0.2f);
      chassis.set(vertices, 6);


      CircleShape circle = new CircleShape();
      circle.m_radius = 0.4f;


      BodyDef bd = new BodyDef();
      bd.type = BodyType.DYNAMIC;
      bd.position.set(0.0f, 1.0f);
      m_car = m_world.createBody(bd);
      m_car.createFixture(chassis, 1.0f);


      FixtureDef fd = new FixtureDef();
      fd.shape = circle;
      fd.density = 1.0f;
      fd.friction = 0.9f;


      bd.position.set(-1.0f, 0.35f);
      m_wheel1 = m_world.createBody(bd);
      m_wheel1.createFixture(fd);


      bd.position.set(1.0f, 0.4f);
      m_wheel2 = m_world.createBody(bd);
      m_wheel2.createFixture(fd);


      WheelJointDef jd = new WheelJointDef();
      Vec2 axis = new Vec2(0.0f, 1.0f);


      jd.initialize(m_car, m_wheel1, m_wheel1.getPosition(), axis);
      jd.motorSpeed = 0.0f;
      jd.maxMotorTorque = 20.0f;
      jd.enableMotor = true;
      jd.frequencyHz = m_hz;
      jd.dampingRatio = m_zeta;
      m_spring1 = (WheelJoint) m_world.createJoint(jd);


      jd.initialize(m_car, m_wheel2, m_wheel2.getPosition(), axis);
      jd.motorSpeed = 0.0f;
      jd.maxMotorTorque = 10.0f;
      jd.enableMotor = false;
      jd.frequencyHz = m_hz;
      jd.dampingRatio = m_zeta;

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      shape.m_radius = 0.5f;


      BodyDef bd = new BodyDef();
      bd.type = BodyType.DYNAMIC;


      RevoluteJointDef rjd = new RevoluteJointDef();


      bd.position.set(-10f, 20.0f);
      Body body = getWorld().createBody(bd);
      body.createFixture(shape, 5.0f);


      float w = 100.0f;
      body.setAngularVelocity(w);
      body.setLinearVelocity(new Vec2(-8.0f * w, 0.0f));


      rjd.initialize(ground, body, new Vec2(-10.0f, 12.0f));
      rjd.motorSpeed = -1.0f * MathUtils.PI;
      rjd.maxMotorTorque = 10000.0f;
      rjd.enableMotor = false;
      rjd.lowerAngle = -0.25f * MathUtils.PI;
      rjd.upperAngle = 0.5f * MathUtils.PI;
      rjd.enableLimit = true;
      rjd.collideConnected = true;


      m_joint = (RevoluteJoint) getWorld().createJoint(rjd);
    }


    {
      CircleShape circle_shape = new CircleShape();
      circle_shape.m_radius = 3.0f;


      BodyDef circle_bd = new BodyDef();
      circle_bd.type = BodyType.DYNAMIC;
      circle_bd.position.set(5.0f, 30.0f);


      FixtureDef fd = new FixtureDef();
      fd.density = 5.0f;
      fd.filter.maskBits = 1;
      fd.shape = circle_shape;


      Body ball = m_world.createBody(circle_bd);
      ball.createFixture(fd);


      PolygonShape polygon_shape = new PolygonShape();
      polygon_shape.setAsBox(10.0f, 0.2f, new Vec2(-10.0f, 0.0f), 0.0f);


      BodyDef polygon_bd = new BodyDef();
      polygon_bd.position.set(20.0f, 10.0f);
      polygon_bd.type = BodyType.DYNAMIC;
      polygon_bd.bullet = true;
      Body polygon_body = m_world.createBody(polygon_bd);
      polygon_body.createFixture(polygon_shape, 2.0f);


      RevoluteJointDef rjd = new RevoluteJointDef();
      rjd.initialize(ground, polygon_body, new Vec2(20.0f, 10.0f));
      rjd.lowerAngle = -0.25f * MathUtils.PI;
      rjd.upperAngle = 0.0f * MathUtils.PI;
      rjd.enableLimit = true;
      m_world.createJoint(rjd);
    }

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      body.createFixture(fd);
    }


    body.setBullet(false);


    RevoluteJointDef rjd = new RevoluteJointDef();
    rjd.initialize(body, getGroundBody(), body.getPosition());
    rjd.motorSpeed = MathUtils.PI;
    rjd.maxMotorTorque = 1000000.0f;
    rjd.enableMotor = true;
    joint = (RevoluteJoint) getWorld().createJoint(rjd);

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      BodyDef bodyDef = new BodyDef();
      bodyDef.type = BodyType.STATIC;
      ground = getWorld().createBody(bodyDef);
    }


    RevoluteJointDef jointDef = new RevoluteJointDef();


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


    pendulum.applyAngularImpulse(10000);


    getWorld().createJoint(jointDef);
  }

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        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 = 10000.0f;
        rjd.enableMotor = true;
        m_joint1 = (RevoluteJoint) 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(1.5f, 1.5f);


        BodyDef bd = new BodyDef();
        bd.type = BodyType.DYNAMIC;
        bd.fixedRotation = true;
        bd.position.set(0.0f, 17.0f);
        Body body = getWorld().createBody(bd);
        body.createFixture(shape, 2.0f);


        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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Related Classes of org.jbox2d.dynamics.joints.RevoluteJointDef

net.sf.fysix.player.PlayerHandler

org.jbox2d.common.Vec2

org.jbox2d.profile.PistonBenchmark

org.jbox2d.profile.worlds.PistonWorld

org.jbox2d.serialization.pb.PbDeserializer

org.jbox2d.testbed.tests.BodyTypes

org.jbox2d.testbed.tests.Car

org.jbox2d.testbed.tests.Chain

org.jbox2d.testbed.tests.CircleStress

org.jbox2d.testbed.tests.FixedPendulumTest

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