Package org.jbox2d.collision.shapes

Examples of org.jbox2d.collision.shapes.PolygonShape

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      return;
    }

    Body ground = null;
    {
      PolygonShape sd = new PolygonShape();
      sd.setAsBox(50.0f, 0.4f);

      BodyDef bd = new BodyDef();
      bd.position.set(0.0f, 0.0f);
      ground = getWorld().createBody(bd);
      ground.createFixture(sd, 0f);

      sd.setAsBox(0.4f, 50.0f, new Vec2(-10.0f, 0.0f), 0.0f);
      ground.createFixture(sd, 0f);
      sd.setAsBox(0.4f, 50.0f, new Vec2(10.0f, 0.0f), 0.0f);
      ground.createFixture(sd, 0f);
    }

    ConstantVolumeJointDef cvjd = new ConstantVolumeJointDef();

    float cx = 0.0f;
    float cy = 10.0f;
    float rx = 5.0f;
    float ry = 5.0f;
    int nBodies = 20;
    float bodyRadius = 0.5f;
    for (int i = 0; i < nBodies; ++i) {
      float angle = MathUtils.map(i, 0, nBodies, 0, 2 * 3.1415f);
      BodyDef bd = new BodyDef();
      // bd.isBullet = true;
      bd.fixedRotation = true;

      float x = cx + rx * (float) Math.sin(angle);
      float y = cy + ry * (float) Math.cos(angle);
      bd.position.set(new Vec2(x, y));
      bd.type = BodyType.DYNAMIC;
      Body body = getWorld().createBody(bd);

      FixtureDef fd = new FixtureDef();
      CircleShape cd = new CircleShape();
      cd.m_radius = bodyRadius;
      fd.shape = cd;
      fd.density = 1.0f;
      body.createFixture(fd);
      cvjd.addBody(body);
    }

    cvjd.frequencyHz = 10.0f;
    cvjd.dampingRatio = 1.0f;
    cvjd.collideConnected = false;
    getWorld().createJoint(cvjd);

    BodyDef bd2 = new BodyDef();
    bd2.type = BodyType.DYNAMIC;
    PolygonShape psd = new PolygonShape();
    psd.setAsBox(3.0f, 1.5f, new Vec2(cx, cy + 15.0f), 0.0f);
    bd2.position = new Vec2(cx, cy + 15.0f);
    Body fallingBox = getWorld().createBody(bd2);
    fallingBox.createFixture(psd, 1.0f);
  }
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      BodyDef bd = new BodyDef();
      bd.type = BodyType.DYNAMIC;
      bd.position.set(0.0f, 8.0f);
      Body body = getWorld().createBody(bd);

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

      FixtureDef fd = new FixtureDef();
      fd.shape = shape;
      fd.friction = 0.6f;
      fd.density = 2.0f;
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      Vec2 vertices[] = new Vec2[3];
      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));

      PolygonShape poly1 = new PolygonShape();
      poly1.set(vertices, 3);

      FixtureDef sd1 = new FixtureDef();
      sd1.shape = poly1;
      sd1.density = 4.0f;

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

      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));

      PolygonShape poly2 = new PolygonShape();
      poly2.set(vertices, 3);

      FixtureDef sd2 = new FixtureDef();
      sd2.shape = poly2;
      sd2.density = 2.0f;

      BodyDef bd = new BodyDef();
      bd.type = BodyType.DYNAMIC;
      bd.angularDamping = 2.0f;
      bd.linearDamping = 0.5f;

      bd.position.set(0.0f, 2.0f);
      bd.angle = MathUtils.PI;
      bd.allowSleep = false;
      m_body = getWorld().createBody(bd);
      m_body.createFixture(sd1);
      m_body.createFixture(sd2);
    }

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

      FixtureDef fd = new FixtureDef();
      fd.shape = shape;
      fd.density = 1.0f;
      fd.friction = 0.3f;
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    {
      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 = 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));

        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);
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      ground.createFixture(circle, 0.0f);
    }

    {

      PolygonShape shape = new PolygonShape();
      shape.setAsBox(a, b);

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

      bd.position.set(-10.0f, y);
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      bd.type = BodyType.DYNAMIC;
      bd.allowSleep = false;
      bd.position.set(0.0f, 10.0f);
      Body body = m_world.createBody(bd);

      PolygonShape shape = new PolygonShape();
      shape.setAsBox(0.5f, 10.0f, new Vec2(20.0f, 0.0f), 0.0f);
      body.createFixture(shape, 5.0f);
      shape.setAsBox(0.5f, 10.0f, new Vec2(-20.0f, 0.0f), 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);
      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;
      jd.motorSpeed = 0.05f * MathUtils.PI;
      jd.maxMotorTorque = 1e7f;
      jd.enableMotor = true;
      m_joint = (RevoluteJoint) m_world.createJoint(jd);
    }

    m_world.setParticleRadius(0.15f);
    m_world.setParticleDamping(0.2f);

    {
      ParticleGroupDef pd = new ParticleGroupDef();
      pd.flags = 0;

      PolygonShape shape = new PolygonShape();
      shape.setAsBox(9.0f, 9.0f, new Vec2(0.0f, 10.0f), 0.0f);

      pd.shape = shape;
      m_world.createParticleGroup(pd);
    }

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        CircleShape c = new CircleShape();
        c.m_p.set(pbToVec(s.getCenter()));
        shape = c;
        break;
      case POLYGON:
        PolygonShape p = new PolygonShape();
        p.m_centroid.set(pbToVec(s.getCentroid()));
        p.m_count = s.getPointsCount();
        for (int i = 0; i < p.m_count; i++) {
          p.m_vertices[i].set(pbToVec(s.getPoints(i)));
          p.m_normals[i].set(pbToVec(s.getNormals(i)));
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    // to this problem.
    {
      BodyDef bd = new BodyDef();
      Body ground = getWorld().createBody(bd);

      PolygonShape shape = new PolygonShape();
      shape.setAsBox(1.0f, 1.0f, new Vec2(4.0f, 3.0f), 0.0f);
      ground.createFixture(shape, 0.0f);
      shape.setAsBox(1.0f, 1.0f, new Vec2(6.0f, 3.0f), 0.0f);
      ground.createFixture(shape, 0.0f);
      shape.setAsBox(1.0f, 1.0f, new Vec2(8.0f, 3.0f), 0.0f);
      ground.createFixture(shape, 0.0f);
    }

    // Square made from an edge loop. Collision should be smooth.
    {
      BodyDef bd = new BodyDef();
      Body ground = m_world.createBody(bd);

      Vec2[] vs = new Vec2[4];
      vs[0] = new Vec2(-1.0f, 3.0f);
      vs[1] = new Vec2(1.0f, 3.0f);
      vs[2] = new Vec2(1.0f, 5.0f);
      vs[3] = new Vec2(-1.0f, 5.0f);
      ChainShape shape = new ChainShape();
      shape.createLoop(vs, 4);
      ground.createFixture(shape, 0.0f);
    }

    // Edge loop. Collision should be smooth.
    {
      BodyDef bd = new BodyDef();
      bd.position.set(-10.0f, 4.0f);
      Body ground = getWorld().createBody(bd);

      Vec2[] vs = new Vec2[10];
      vs[0] = new Vec2(0.0f, 0.0f);
      vs[1] = new Vec2(6.0f, 0.0f);
      vs[2] = new Vec2(6.0f, 2.0f);
      vs[3] = new Vec2(4.0f, 1.0f);
      vs[4] = new Vec2(2.0f, 2.0f);
      vs[5] = new Vec2(0.0f, 2.0f);
      vs[6] = new Vec2(-2.0f, 2.0f);
      vs[7] = new Vec2(-4.0f, 3.0f);
      vs[8] = new Vec2(-6.0f, 2.0f);
      vs[9] = new Vec2(-6.0f, 0.0f);
      ChainShape shape = new ChainShape();
      shape.createLoop(vs, 10);
      ground.createFixture(shape, 0.0f);
    }

    // Square character 1
    {
      BodyDef bd = new BodyDef();
      bd.position.set(-3.0f, 8.0f);
      bd.type = BodyType.DYNAMIC;
      bd.fixedRotation = true;
      bd.allowSleep = false;

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

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

      FixtureDef fd = new FixtureDef();
      fd.shape = shape;
      fd.density = 20.0f;
      body.createFixture(fd);
    }

    // Square character 2
    {
      BodyDef bd = new BodyDef();
      bd.position.set(-5.0f, 5.0f);
      bd.type = BodyType.DYNAMIC;
      bd.fixedRotation = true;
      bd.allowSleep = false;

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

      PolygonShape shape = new PolygonShape();
      shape.setAsBox(0.25f, 0.25f);

      FixtureDef fd = new FixtureDef();
      fd.shape = shape;
      fd.density = 20.0f;
      body.createFixture(fd);
    }

    // Hexagon character
    {
      BodyDef bd = new BodyDef();
      bd.position.set(-5.0f, 8.0f);
      bd.type = BodyType.DYNAMIC;
      bd.fixedRotation = true;
      bd.allowSleep = false;

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

      float angle = 0.0f;
      float delta = MathUtils.PI / 3.0f;
      Vec2 vertices[] = new Vec2[6];
      for (int i = 0; i < 6; ++i) {
        vertices[i] = new Vec2(0.5f * MathUtils.cos(angle), 0.5f * MathUtils.sin(angle));
        angle += delta;
      }

      PolygonShape shape = new PolygonShape();
      shape.set(vertices, 6);

      FixtureDef fd = new FixtureDef();
      fd.shape = shape;
      fd.density = 20.0f;
      body.createFixture(fd);
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    BodyDef bd = new BodyDef();
    bd.type = BodyType.DYNAMIC;
    bd.position.set(0.0f, 10.0f);
    m_body = getWorld().createBody(bd);

    PolygonShape shape = new PolygonShape();
    shape.setAsBox(4.0f, 4.0f, new Vec2(0.0f, 0.0f), 0.0f);
    m_fixture1 = m_body.createFixture(shape, 10.0f);

    m_fixture2 = null;
  }
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    {
      BodyDef bd = new BodyDef();
      Body ground = m_world.createBody(bd);

      {
        PolygonShape shape = new PolygonShape();
        Vec2[] vertices =
            new Vec2[] {new Vec2(-40, -10), new Vec2(40, -10), new Vec2(40, 0), new Vec2(-40, 0)};
        shape.set(vertices, 4);
        ground.createFixture(shape, 0.0f);
      }

      {
        PolygonShape shape = new PolygonShape();
        Vec2[] vertices =
            new Vec2[] {new Vec2(-40, -1), new Vec2(-20, -1), new Vec2(-20, 20), new Vec2(-40, 30)};
        shape.set(vertices, 4);
        ground.createFixture(shape, 0.0f);
      }

      {
        PolygonShape shape = new PolygonShape();
        Vec2[] vertices =
            new Vec2[] {new Vec2(20, -1), new Vec2(40, -1), new Vec2(40, 30), new Vec2(20, 20)};
        shape.set(vertices, 4);
        ground.createFixture(shape, 0.0f);
      }
    }

    m_world.setParticleRadius(0.2f);
    {
      PolygonShape shape = new PolygonShape();
      shape.setAsBox(20, 10, new Vec2(0, 10), 0);
      ParticleGroupDef pd = new ParticleGroupDef();
      pd.flags = pd.flags;
      pd.shape = shape;
      m_world.createParticleGroup(pd);
    }

    {
      BodyDef bd = new BodyDef();
      bd.type = BodyType.KINEMATIC;
      Body body = m_world.createBody(bd);
      circle = body;
      CircleShape shape = new CircleShape();
      shape.m_p.set(0, 5);
      shape.m_radius = 1;
      body.createFixture(shape, 0.1f);
      body.setLinearVelocity(new Vec2(-6, 0.0f));
    }

    {
      BodyDef bd = new BodyDef();
      bd.type = BodyType.DYNAMIC;
      Body body = m_world.createBody(bd);
      PolygonShape shape = new PolygonShape();
      shape.setAsBox(1, 1, new Vec2(-10, 5), 0);
      body.createFixture(shape, 0.1f);
    }

    {
      BodyDef bd = new BodyDef();
      bd.type = BodyType.DYNAMIC;
      Body body = m_world.createBody(bd);
      PolygonShape shape = new PolygonShape();
      shape.setAsBox(1, 1, new Vec2(10, 5), 0.5f);
      body.createFixture(shape, 0.1f);
    }

    {
      BodyDef bd = new BodyDef();
      bd.type = BodyType.DYNAMIC;
      Body body = m_world.createBody(bd);
      EdgeShape shape = new EdgeShape();
      shape.set(new Vec2(0, 20), new Vec2(1, 21));
      body.createFixture(shape, 0.1f);
    }

    {
      BodyDef bd = new BodyDef();
      bd.type = BodyType.DYNAMIC;
      Body body = m_world.createBody(bd);
      EdgeShape shape = new EdgeShape();
      shape.set(new Vec2(3, 20), new Vec2(4, 21));
      body.createFixture(shape, 0.1f);
    }

    {
      BodyDef bd = new BodyDef();
      bd.type = BodyType.DYNAMIC;
      Body body = m_world.createBody(bd);
      EdgeShape shape = new EdgeShape();
      shape.set(new Vec2(-3, 21), new Vec2(-2, 20));
      body.createFixture(shape, 0.1f);
    }
  }
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