Examples with Body org.jbox2d.dynamics.Body used on opensource projects

Example 16 with Body

use of org.jbox2d.dynamics.Body in project Bytecoder by mirkosertic.

the class JBox2DTest method testSimpleBall.

@Test
public void testSimpleBall() {
    World world = new World(new Vec2(0, -9.8f));
    float ballRadius = 0.15f;
    BodyDef ballDef = new BodyDef();
    ballDef.type = BodyType.DYNAMIC;
    FixtureDef fixtureDef = new FixtureDef();
    fixtureDef.friction = 0.3f;
    fixtureDef.restitution = 0.3f;
    fixtureDef.density = 0.2f;
    CircleShape shape = new CircleShape();
    shape.m_radius = ballRadius;
    fixtureDef.shape = shape;
    int i = 0;
    int j = 0;
    float x = (j + 0.5f) * (ballRadius * 2 + 0.01f);
    float y = (i + 0.5f) * (ballRadius * 2 + 0.01f);
    ballDef.position.x = 3 + x;
    ballDef.position.y = 3 + y;
    Body theBall = world.createBody(ballDef);
    theBall.createFixture(fixtureDef);
    for (int k = 0; k < 100; k++) {
        world.step(0.01f, 20, 40);
    }
    Vec2 thePosition = theBall.getPosition();
    int theX = (int) (thePosition.x * 1000);
    int theY = (int) (thePosition.y * 1000);
    System.out.println("Finally ended at ");
    System.out.println(theX);
    System.out.println(theY);
}

Example 17 with Body

use of org.jbox2d.dynamics.Body in project opennars by opennars.

the class DrawPhy2D method drawJoint.

private void drawJoint(Joint joint) {
    Body bodyA = joint.getBodyA();
    Body bodyB = joint.getBodyB();
    Transform xf1 = bodyA.getTransform();
    Transform xf2 = bodyB.getTransform();
    Vec2 x1 = xf1.p;
    Vec2 x2 = xf2.p;
    joint.getAnchorA(p1);
    joint.getAnchorB(p2);
    color.set(0.5f, 0.8f, 0.8f);
    switch(joint.getType()) {
        // TODO djm write after writing joints
        case DISTANCE:
            drawSegment(p1, p2, color);
            break;
        case PULLEY:
            {
                PulleyJoint pulley = (PulleyJoint) joint;
                Vec2 s1 = pulley.getGroundAnchorA();
                Vec2 s2 = pulley.getGroundAnchorB();
                drawSegment(s1, p1, color);
                drawSegment(s2, p2, color);
                drawSegment(s1, s2, color);
            }
            break;
        case CONSTANT_VOLUME:
        case MOUSE:
            // don't draw this
            break;
        default:
            drawSegment(x1, p1, color);
            drawSegment(p1, p2, color);
            drawSegment(x2, p2, color);
    }
// pool.pushVec2(2);
}

Example 18 with Body

use of org.jbox2d.dynamics.Body in project opennars by opennars.

the class ParticleVelocityQueryCallback method spawnMouseJoint.

private void spawnMouseJoint(Vec2 p) {
    if (mouseJoint != null) {
        return;
    }
    queryAABB.lowerBound.set(p.x - .001f, p.y - .001f);
    queryAABB.upperBound.set(p.x + .001f, p.y + .001f);
    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.collideConnected = true;
        def.target.set(p);
        def.maxForce = 1000f * body.getMass();
        mouseJoint = (MouseJoint) m_world.createJoint(def);
        body.setAwake(true);
    }
}

Example 19 with Body

use of org.jbox2d.dynamics.Body in project opennars by opennars.

the class RobotArm method initTest.

@Override
public void initTest(boolean argDeserialized) {
    for (int i = 0; i < 10; i++) {
        getCamera().zoomToPoint(new Vec2(0, 0), PhysicsCamera.ZoomType.ZOOM_IN);
    }
    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);
    }
    {
        Body prevBody = ground;
        // Define upper arm.
        {
            PolygonShape shape = new PolygonShape();
            shape.setAsBox(0.5f, 4.0f);
            BodyDef bd = new BodyDef();
            bd.type = BodyType.DYNAMIC;
            bd.position.set(0.0f, 5.0f);
            upperArm = getWorld().createBody(bd);
            upperArm.createFixture(shape, 2.0f);
            RevoluteJointDef rjd = new RevoluteJointDef();
            rjd.initialize(prevBody, upperArm, new Vec2(0.0f, 2.0f));
            // 1.0f * MathUtils.PI;
            rjd.motorSpeed = 0;
            rjd.maxMotorTorque = 10000.0f;
            rjd.enableMotor = true;
            rjd.lowerAngle = -MathUtils.PI / 2f * 1.5f;
            rjd.upperAngle = MathUtils.PI / 2f * 1.5f;
            rjd.enableLimit = true;
            shoulderJoint = (RevoluteJoint) getWorld().createJoint(rjd);
            prevBody = upperArm;
        }
        // Define lower arm.
        {
            PolygonShape shape = new PolygonShape();
            shape.setAsBox(0.5f, 2.0f);
            BodyDef bd = new BodyDef();
            bd.type = BodyType.DYNAMIC;
            bd.position.set(0.0f, 11.0f);
            lowerArm = getWorld().createBody(bd);
            lowerArm.createFixture(shape, 1.0f);
            RevoluteJointDef rjd = new RevoluteJointDef();
            rjd.initialize(prevBody, lowerArm, new Vec2(0.0f, 9.0f));
            rjd.enableMotor = true;
            rjd.lowerAngle = -MathUtils.PI / 2f * 1.5f;
            rjd.upperAngle = MathUtils.PI / 2f * 1.5f;
            rjd.enableLimit = true;
            elbowJoint = (RevoluteJoint) getWorld().createJoint(rjd);
        }
        // Finger Right
        {
            PolygonShape shape = new PolygonShape();
            shape.setAsBox(0.1f, 0.75f);
            BodyDef bd = new BodyDef();
            bd.type = BodyType.DYNAMIC;
            bd.position.set(0.5f, 13.5f);
            Body body = getWorld().createBody(bd);
            body.createFixture(shape, 0.25f);
            RevoluteJointDef rjd = new RevoluteJointDef();
            rjd.initialize(lowerArm, body, new Vec2(0.5f, 13.0f));
            rjd.enableMotor = true;
            rjd.upperAngle = MathUtils.PI / 8f * 1.5f;
            rjd.lowerAngle = -MathUtils.PI / 4f * 1.5f;
            rjd.enableLimit = true;
            fingerRightJoint = (RevoluteJoint) getWorld().createJoint(rjd);
            prevBody = body;
        }
        // Finger Left
        {
            PolygonShape shape = new PolygonShape();
            shape.setAsBox(0.1f, 0.75f);
            BodyDef bd = new BodyDef();
            bd.type = BodyType.DYNAMIC;
            bd.position.set(-0.5f, 13.5f);
            Body body = getWorld().createBody(bd);
            body.createFixture(shape, 0.25f);
            RevoluteJointDef rjd = new RevoluteJointDef();
            rjd.initialize(lowerArm, body, new Vec2(-0.5f, 13.0f));
            rjd.enableMotor = true;
            rjd.upperAngle = MathUtils.PI / 4f * 1.5f;
            rjd.lowerAngle = -MathUtils.PI / 8f * 1.5f;
            rjd.enableLimit = true;
            fingerLeftJoint = (RevoluteJoint) getWorld().createJoint(rjd);
        }
    // // 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));
    // 
    // pjd.maxMotorForce = 1000.0f;
    // pjd.enableMotor = false;
    // 
    // m_joint2 = (PrismaticJoint) getWorld().createJoint(pjd);
    // }
    // // Create a payload
    // {
    // PolygonShape shape = new PolygonShape();
    // shape.setAsBox(1.5f, 1.5f);
    // 
    // BodyDef bd = new BodyDef();
    // bd.type = BodyType.DYNAMIC;
    // bd.position.set(0.0f, 23.0f);
    // Body body = getWorld().createBody(bd);
    // body.createFixture(shape, 2.0f);
    // }
    }
}