/*******************************************************************************
* Copyright 2011 See AUTHORS file.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
******************************************************************************/
/*
* Copyright 2010 Mario Zechner (contact@badlogicgames.com), Nathan Sweet (admin@esotericsoftware.com)
*
* Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the
* License. You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS"
* BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language
* governing permissions and limitations under the License.
*/
package com.badlogic.gdx.tests.box2d;
import com.badlogic.gdx.Input.Keys;
import com.badlogic.gdx.math.Vector2;
import com.badlogic.gdx.physics.box2d.Body;
import com.badlogic.gdx.physics.box2d.BodyDef;
import com.badlogic.gdx.physics.box2d.BodyDef.BodyType;
import com.badlogic.gdx.physics.box2d.EdgeShape;
import com.badlogic.gdx.physics.box2d.FixtureDef;
import com.badlogic.gdx.physics.box2d.PolygonShape;
import com.badlogic.gdx.physics.box2d.Transform;
import com.badlogic.gdx.physics.box2d.World;
import com.badlogic.gdx.physics.box2d.joints.FrictionJointDef;
public class ApplyForce extends Box2DTest {
Body m_body;
@Override
protected void createWorld (World world) {
world.setGravity(new Vector2(0, 0));
float k_restitution = 0.4f;
Body ground;
{
BodyDef bd = new BodyDef();
bd.position.set(0, 20);
ground = world.createBody(bd);
EdgeShape shape = new EdgeShape();
FixtureDef sd = new FixtureDef();
sd.shape = shape;
sd.density = 0;
sd.restitution = k_restitution;
shape.set(new Vector2(-20, -20), new Vector2(-20, 20));
ground.createFixture(sd);
shape.set(new Vector2(20, -20), new Vector2(20, 20));
ground.createFixture(sd);
shape.set(new Vector2(-20, 20), new Vector2(20, 20));
ground.createFixture(sd);
shape.set(new Vector2(-20, -20), new Vector2(20, -20));
ground.createFixture(sd);
shape.dispose();
}
{
Transform xf1 = new Transform(new Vector2(), 0.3524f * (float)Math.PI);
xf1.setPosition(xf1.mul(new Vector2(1, 0)));
Vector2[] vertices = new Vector2[3];
vertices[0] = xf1.mul(new Vector2(-1, 0));
vertices[1] = xf1.mul(new Vector2(1, 0));
vertices[2] = xf1.mul(new Vector2(0, 0.5f));
PolygonShape poly1 = new PolygonShape();
poly1.set(vertices);
FixtureDef sd1 = new FixtureDef();
sd1.shape = poly1;
sd1.density = 4.0f;
Transform xf2 = new Transform(new Vector2(), -0.3524f * (float)Math.PI);
xf2.setPosition(xf2.mul(new Vector2(-1, 0)));
vertices[0] = xf2.mul(new Vector2(-1, 0));
vertices[1] = xf2.mul(new Vector2(1, 0));
vertices[2] = xf2.mul(new Vector2(0, 0.5f));
PolygonShape poly2 = new PolygonShape();
poly2.set(vertices);
FixtureDef sd2 = new FixtureDef();
sd2.shape = poly2;
sd2.density = 2.0f;
BodyDef bd = new BodyDef();
bd.type = BodyType.DynamicBody;
bd.angularDamping = 5.0f;
bd.linearDamping = 0.1f;
bd.position.set(0, 2);
bd.angle = (float)Math.PI;
bd.allowSleep = false;
m_body = world.createBody(bd);
m_body.createFixture(sd1);
m_body.createFixture(sd2);
poly1.dispose();
poly2.dispose();
}
{
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++) {
BodyDef bd = new BodyDef();
bd.type = BodyType.DynamicBody;
bd.position.set(0, 5 + 1.54f * i);
Body body = world.createBody(bd);
body.createFixture(fd);
float gravity = 10.0f;
float I = body.getInertia();
float mass = body.getMass();
float radius = (float)Math.sqrt(2 * I / mass);
FrictionJointDef jd = new FrictionJointDef();
jd.localAnchorA.set(0, 0);
jd.localAnchorB.set(0, 0);
jd.bodyA = ground;
jd.bodyB = body;
jd.collideConnected = true;
jd.maxForce = mass * gravity;
jd.maxTorque = mass * radius * gravity;
world.createJoint(jd);
}
shape.dispose();
}
}
private final Vector2 tmp = new Vector2();
public boolean keyDown (int keyCode) {
if (keyCode == Keys.W) {
Vector2 f = m_body.getWorldVector(tmp.set(0, -200));
Vector2 p = m_body.getWorldPoint(tmp.set(0, 2));
m_body.applyForce(f, p, true);
}
if (keyCode == Keys.A) m_body.applyTorque(50, true);
if (keyCode == Keys.D) m_body.applyTorque(-50, true);
return false;
}
}