Package org.jbox2d.dynamics

Examples of org.jbox2d.dynamics.FixtureDef

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    }

    m_bodies[m_bodyIndex] = getWorld().createBody(bd);

    if (index < 4) {
      FixtureDef fd = new FixtureDef();
      fd.shape = m_polygons[index];
      fd.friction = 0.3f;
      m_bodies[m_bodyIndex].createFixture(fd);
    } else {
      FixtureDef fd = new FixtureDef();
      fd.shape = m_circle;
      fd.friction = 0.3f;

      m_bodies[m_bodyIndex].createFixture(fd);
    }
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      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);
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    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);
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    // PointDef pd = new PointDef();
    // pd.mass = massPerParticle;
    // pd.restitution = 0.0f;
    // pd.filter.groupIndex = -10;
    CircleShape pd = new CircleShape();
    FixtureDef fd = new FixtureDef();
    fd.shape = pd;
    fd.density = 1f;
    fd.filter.groupIndex = -10;
    pd.m_radius = .05f;
    fd.restitution = 0.4f;
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      if (liquid[i].getWorldCenter().y < -10.0f) {
        getWorld().destroyBody(liquid[i]);
        float massPerParticle = totalMass / nParticles;

        CircleShape pd = new CircleShape();
        FixtureDef fd = new FixtureDef();
        fd.shape = pd;
        fd.density = 1.0f;
        fd.filter.groupIndex = -10;
        pd.m_radius = .05f;
        fd.restitution = 0.4f;
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      bd.position.set(0.0f, 20.0f);
      ground = getWorld().createBody(bd);

      EdgeShape shape = new EdgeShape();

      FixtureDef sd = new FixtureDef();
      sd.shape = shape;
      sd.density = 0.0f;
      sd.restitution = k_restitution;

      // Left vertical
      shape.set(new Vec2(-20.0f, -20.0f), new Vec2(-20.0f, 20.0f));
      ground.createFixture(sd);

      // Right vertical
      shape.set(new Vec2(20.0f, -20.0f), new Vec2(20.0f, 20.0f));
      ground.createFixture(sd);

      // Top horizontal
      shape.set(new Vec2(-20.0f, 20.0f), new Vec2(20.0f, 20.0f));
      ground.createFixture(sd);

      // Bottom horizontal
      shape.set(new Vec2(-20.0f, -20.0f), new Vec2(20.0f, -20.0f));
      ground.createFixture(sd);
    }

    {
      Transform xf1 = new Transform();
      xf1.q.set(0.3524f * MathUtils.PI);
      Rot.mulToOutUnsafe(xf1.q, new Vec2(1.0f, 0.0f), xf1.p);

      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 = 5.0f;
      bd.linearDamping = 0.1f;

      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;

      for (int i = 0; i < 10; ++i) {
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      PolygonShape shape = new PolygonShape();
      shape.setAsBox(5.0f, 100.0f);
      bd = new BodyDef();
      bd.type = BodyType.STATIC;
      FixtureDef sides = new FixtureDef();
      sides.shape = shape;
      sides.density = 0;
      sides.friction = 0;
      sides.restitution = .8f;
      sides.filter.categoryBits = 4;
      sides.filter.maskBits = 2;

      bd.position.set(-10.01f, 50.0f);
      Body bod = world.createBody(bd);
      bod.createFixture(sides);
      bd.position.set(10.01f, 50.0f);
      bod = world.createBody(bd);
      bod.createFixture(sides);
    }

    // turney
    {
      CircleShape cd;
      FixtureDef fd = new FixtureDef();
      BodyDef bd = new BodyDef();
      bd.type = BodyType.DYNAMIC;
      int numPieces = 5;
      float radius = 4f;
      bd.position = new Vec2(0.0f, 25.0f);
      Body body = world.createBody(bd);
      for (int i = 0; i < numPieces; i++) {
        cd = new CircleShape();
        cd.m_radius = .5f;
        fd.shape = cd;
        fd.density = 25;
        fd.friction = .1f;
        fd.restitution = .9f;
        float xPos = radius * (float) Math.cos(2f * Math.PI * (i / (float) (numPieces)));
        float yPos = radius * (float) Math.sin(2f * Math.PI * (i / (float) (numPieces)));
        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));

        pjd.maxMotorForce = 1000.0f;
        pjd.enableMotor = true;

        m_joint2 = (PrismaticJoint) world.createJoint(pjd);
      }

      // Create a payload
      {
        PolygonShape sd = new PolygonShape();
        BodyDef bd = new BodyDef();
        bd.type = BodyType.DYNAMIC;
        FixtureDef fixture = new FixtureDef();
        Body body;
        for (int i = 0; i < 100; ++i) {
          sd.setAsBox(0.4f, 0.3f);
          bd.position.set(-1.0f, 23.0f + i);

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   */
  private void createWall(Vec2 position, Vec2 size) {
    PolygonShape wallShape = new PolygonShape();
    wallShape.setAsBox(size.x, size.y);
   
    FixtureDef wallFixture = new FixtureDef();
    wallFixture.shape = wallShape;
    wallFixture.density = 1;
    wallFixture.restitution = 0;
   
    BodyDef wallBodyDef = new BodyDef();
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      PolygonShape shape = new PolygonShape();
      shape.setAsBox(5.0f, 100.0f);
      bd = new BodyDef();
      bd.type = BodyType.STATIC;
      FixtureDef sides = new FixtureDef();
      sides.shape = shape;
      sides.density = 0;
      sides.friction = 0;
      sides.restitution = .8f;
      sides.filter.categoryBits = 4;
      sides.filter.maskBits = 2;

      bd.position.set(-10.01f, 50.0f);
      Body bod = world.createBody(bd);
      bod.createFixture(sides);
      bd.position.set(10.01f, 50.0f);
      bod = world.createBody(bd);
      bod.createFixture(sides);
    }

    // turney
    {
      CircleShape cd;
      FixtureDef fd = new FixtureDef();
      BodyDef bd = new BodyDef();
      bd.type = BodyType.DYNAMIC;
      int numPieces = 5;
      float radius = 4f;
      bd.position = new Vec2(0.0f, 25.0f);
      Body body = world.createBody(bd);
      for (int i = 0; i < numPieces; i++) {
        cd = new CircleShape();
        cd.m_radius = .5f;
        fd.shape = cd;
        fd.density = 25;
        fd.friction = .1f;
        fd.restitution = .9f;
        float xPos = radius * (float) Math.cos(2f * Math.PI * (i / (float) (numPieces)));
        float yPos = radius * (float) Math.sin(2f * Math.PI * (i / (float) (numPieces)));
        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));

        pjd.maxMotorForce = 1000.0f;
        pjd.enableMotor = true;

        m_joint2 = (PrismaticJoint) world.createJoint(pjd);
      }

      // Create a payload
      {
        PolygonShape sd = new PolygonShape();
        BodyDef bd = new BodyDef();
        bd.type = BodyType.DYNAMIC;
        FixtureDef fixture = new FixtureDef();
        Body body;
        for (int i = 0; i < 100; ++i) {
          sd.setAsBox(0.4f, 0.3f);
          bd.position.set(-1.0f, 23.0f + i);

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    {
      PolygonShape shape = new PolygonShape();
      shape.setAsBox(0.5f, 0.125f);

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

      WeldJointDef jd = new WeldJointDef();

      Body prevBody = ground;
      for (int i = 0; i < e_count; ++i) {
        BodyDef bd = new BodyDef();
        bd.type = BodyType.DYNAMIC;
        bd.position.set(-14.5f + 1.0f * i, 5.0f);
        Body body = getWorld().createBody(bd);
        body.createFixture(fd);

        Vec2 anchor = new Vec2(-15.0f + 1.0f * i, 5.0f);
        jd.initialize(prevBody, body, anchor);
        getWorld().createJoint(jd);

        prevBody = body;
      }
    }

    {
      PolygonShape shape = new PolygonShape();
      shape.setAsBox(1f, 0.125f);

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

      WeldJointDef jd = new WeldJointDef();
      jd.frequencyHz = 5f;
      jd.dampingRatio = .7f;

      Body prevBody = ground;
      for (int i = 0; i < 3; ++i) {
        BodyDef bd = new BodyDef();
        bd.type = BodyType.DYNAMIC;
        bd.position.set(-14.0f + 2.0f * i, 15.0f);
        Body body = getWorld().createBody(bd);
        body.createFixture(fd);

        Vec2 anchor = new Vec2(-15.0f + 2.0f * i, 15.0f);
        jd.initialize(prevBody, body, anchor);
        getWorld().createJoint(jd);

        prevBody = body;
      }
    }

    {
      PolygonShape shape = new PolygonShape();
      shape.setAsBox(0.5f, 0.125f);

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

      WeldJointDef jd = new WeldJointDef();

      Body prevBody = ground;
      for (int i = 0; i < e_count; ++i) {
        BodyDef bd = new BodyDef();
        bd.type = BodyType.DYNAMIC;
        bd.position.set(-4.5f + 1.0f * i, 5.0f);
        Body body = getWorld().createBody(bd);
        body.createFixture(fd);

        if (i > 0) {
          Vec2 anchor = new Vec2(-5.0f + 1.0f * i, 5.0f);
          jd.initialize(prevBody, body, anchor);
          getWorld().createJoint(jd);
        }

        prevBody = body;
      }
    }

    {
      PolygonShape shape = new PolygonShape();
      shape.setAsBox(0.5f, 0.125f);

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

      WeldJointDef jd = new WeldJointDef();
      jd.frequencyHz = 8f;
      jd.dampingRatio = .7f;

      Body prevBody = ground;
      for (int i = 0; i < e_count; ++i) {
        BodyDef bd = new BodyDef();
        bd.type = BodyType.DYNAMIC;
        bd.position.set(5.5f + 1.0f * i, 10.0f);
        Body body = getWorld().createBody(bd);
        body.createFixture(fd);

        if (i > 0) {
          Vec2 anchor = new Vec2(5.0f + 1.0f * i, 10.0f);
          jd.initialize(prevBody, body, anchor);
          getWorld().createJoint(jd);
        }

        prevBody = body;
      }
    }

    for (int i = 0; i < 2; ++i) {
      Vec2 vertices[] = new Vec2[3];
      vertices[0] = new Vec2(-0.5f, 0.0f);
      vertices[1] = new Vec2(0.5f, 0.0f);
      vertices[2] = new Vec2(0.0f, 1.5f);

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

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

      BodyDef bd = new BodyDef();
      bd.type = BodyType.DYNAMIC;
      bd.position.set(-8.0f + 8.0f * i, 12.0f);
      Body body = getWorld().createBody(bd);
      body.createFixture(fd);
    }

    for (int i = 0; i < 2; ++i) {
      CircleShape shape = new CircleShape();
      shape.m_radius = 0.5f;

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

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