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

Example 1 with BodyDef

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

the class JBox2DTest method testNewWorld.

@Test
public void testNewWorld() {
    World world = new World(new Vec2(0, -9.8f));
    BodyDef axisDef = new BodyDef();
    axisDef.type = BodyType.STATIC;
    axisDef.position = new Vec2(3, 3);
    Body axis = world.createBody(axisDef);
    CircleShape axisShape = new CircleShape();
    axisShape.setRadius(0.02f);
    axisShape.m_p.set(0, 0);
// FixtureDef axisFixture = new FixtureDef();
// axisFixture.shape = axisShape;
// axis.createFixture(axisFixture);
}

Example 2 with BodyDef

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

the class ParticleVelocityQueryCallback method init.

public void init(TestbedState model) {
    this.model = model;
    Vec2 gravity = new Vec2(0, -10f);
    m_world = model.getWorldCreator().createWorld(gravity);
    m_world.setParticleGravityScale(0.4f);
    m_world.setParticleDensity(1.2f);
    bomb = null;
    mouseJoint = null;
    mouseTracing = false;
    mouseTracerPosition.setZero();
    mouseTracerVelocity.setZero();
    BodyDef bodyDef = new BodyDef();
    groundBody = m_world.createBody(bodyDef);
    init(m_world, false);
}

Example 3 with BodyDef

use of org.jbox2d.dynamics.BodyDef 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 4 with BodyDef

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

the class ParticleVelocityQueryCallback method launchBomb.

private void launchBomb(Vec2 position, Vec2 velocity) {
    if (bomb != null) {
        m_world.destroyBody(bomb);
        bomb = null;
    }
    // todo optimize this
    BodyDef bd = new BodyDef();
    bd.type = BodyType.DYNAMIC;
    bd.position.set(position);
    bd.bullet = true;
    bomb = m_world.createBody(bd);
    bomb.setLinearVelocity(velocity);
    CircleShape circle = new CircleShape();
    circle.m_radius = 0.3f;
    FixtureDef fd = new FixtureDef();
    fd.shape = circle;
    fd.density = 20f;
    fd.restitution = 0;
    Vec2 minV = new Vec2(position);
    Vec2 maxV = new Vec2(position);
    minV.subLocal(new Vec2(.3f, .3f));
    maxV.addLocal(new Vec2(.3f, .3f));
    aabb.lowerBound.set(minV);
    aabb.upperBound.set(maxV);
    bomb.createFixture(fd);
}

Example 5 with BodyDef

use of org.jbox2d.dynamics.BodyDef 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);
    // }
    }
}