Example usage for com.badlogic.gdx.physics.box2d World createJoint

Introduction

In this page you can find the example usage for com.badlogic.gdx.physics.box2d World createJoint.

Prototype

public Joint createJoint(JointDef def) 

Source Link

Document

Create a joint to constrain bodies together.

Usage

From source file:com.badlogic.gdx.tests.box2d.ApplyForce.java

License:Apache License

@Override
protected void createWorld(World world) {
    world.setGravity(new Vector2(0, 0));

    float k_restitution = 0.4f;
    Body ground;// ww  w .ja  v  a 2  s.c o m

    {
        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();
    }
}

---

From source file:com.badlogic.gdx.tests.box2d.BodyTypes.java

License:Apache License

@Override
protected void createWorld(World world) {
    Body ground;/*from  w ww  .j a  va2s .  c  o m*/

    {
        BodyDef bd = new BodyDef();
        ground = world.createBody(bd);

        EdgeShape shape = new EdgeShape();
        shape.set(new Vector2(-20, 0), new Vector2(20, 0));

        FixtureDef fd = new FixtureDef();
        fd.shape = shape;
        ground.createFixture(fd);
        shape.dispose();
    }

    {
        BodyDef bd = new BodyDef();
        bd.type = BodyType.DynamicBody;
        bd.position.set(0, 3.0f);
        m_attachment = world.createBody(bd);

        PolygonShape shape = new PolygonShape();
        shape.setAsBox(0.5f, 2.0f);
        m_attachment.createFixture(shape, 2.0f);
        shape.dispose();
    }

    {
        BodyDef bd = new BodyDef();
        bd.type = BodyType.DynamicBody;
        bd.position.set(-4.0f, 5.0f);
        m_platform = world.createBody(bd);

        PolygonShape shape = new PolygonShape();
        shape.setAsBox(0.5f, 4.0f, new Vector2(4.0f, 0), 0.5f * (float) Math.PI);

        FixtureDef fd = new FixtureDef();
        fd.shape = shape;
        fd.friction = 0.6f;
        fd.density = 2.0f;

        m_platform.createFixture(fd);
        shape.dispose();

        RevoluteJointDef rjd = new RevoluteJointDef();
        rjd.initialize(m_attachment, m_platform, new Vector2(0, 5.0f));
        rjd.maxMotorTorque = 50.0f;
        rjd.enableMotor = true;
        world.createJoint(rjd);

        PrismaticJointDef pjd = new PrismaticJointDef();
        pjd.initialize(ground, m_platform, new Vector2(0, 5.0f), new Vector2(1, 0));

        pjd.maxMotorForce = 1000.0f;
        pjd.enableMotor = true;
        pjd.lowerTranslation = -10f;
        pjd.upperTranslation = 10.0f;
        pjd.enableLimit = true;

        world.createJoint(pjd);

        m_speed = 3.0f;
    }

    {
        BodyDef bd = new BodyDef();
        bd.type = BodyType.DynamicBody;
        bd.position.set(0, 8.0f);
        Body body = world.createBody(bd);

        PolygonShape shape = new PolygonShape();
        shape.setAsBox(0.75f, 0.75f);

        FixtureDef fd = new FixtureDef();
        fd.shape = shape;
        fd.friction = 0.6f;
        fd.density = 2.0f;

        body.createFixture(fd);
        shape.dispose();
    }
}

---

From source file:com.badlogic.gdx.tests.box2d.Bridge.java

License:Apache License

@Override
protected void createWorld(World world) {
    Body ground;/*ww w.j a  v a  2 s  . c om*/
    {
        BodyDef bd = new BodyDef();
        ground = world.createBody(bd);

        EdgeShape shape = new EdgeShape();
        shape.set(new Vector2(-40, 0), new Vector2(40.0f, 0));

        ground.createFixture(shape, 0);
        shape.dispose();
    }

    {
        PolygonShape shape = new PolygonShape();
        shape.setAsBox(0.5f, 0.125f);
        FixtureDef fd = new FixtureDef();
        fd.shape = shape;
        fd.density = 20.0f;
        fd.friction = 0.2f;

        RevoluteJointDef jd = new RevoluteJointDef();

        Body prevBody = ground;

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

            Vector2 anchor = new Vector2(-15.0f + 1.0f * i, 5.0f);
            jd.initialize(prevBody, body, anchor);
            world.createJoint(jd);
            prevBody = body;
        }

        Vector2 anchor = new Vector2(-15.0f + 1.0f * e_count, 5.0f);
        jd.initialize(prevBody, ground, anchor);
        world.createJoint(jd);
        shape.dispose();
    }

    for (int i = 0; i < 2; i++) {
        Vector2[] vertices = new Vector2[3];
        vertices[0] = new Vector2(-0.5f, 0);
        vertices[1] = new Vector2(0.5f, 0);
        vertices[2] = new Vector2(0, 1.5f);

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

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

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

        shape.dispose();
    }

    for (int i = 0; i < 3; i++) {
        CircleShape shape = new CircleShape();
        shape.setRadius(0.5f);

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

        BodyDef bd = new BodyDef();
        bd.type = BodyType.DynamicBody;
        bd.position.set(-6.0f + 6.0f * i, 10.0f);

        Body body = world.createBody(bd);
        body.createFixture(fd);

        shape.dispose();
    }
}

---

From source file:com.badlogic.gdx.tests.box2d.Cantilever.java

License:Apache License

@Override
protected void createWorld(World world) {
    Body ground;/* w  w  w . j ava 2  s.  c  o  m*/
    {
        BodyDef bd = new BodyDef();
        ground = world.createBody(bd);

        EdgeShape shape = new EdgeShape();
        shape.set(new Vector2(-40, 0), new Vector2(40, 0));
        ground.createFixture(shape, 0);
        shape.dispose();
    }

    {
        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.DynamicBody;
            bd.position.set(-14.5f + 1.0f * i, 5.0f);
            Body body = world.createBody(bd);
            body.createFixture(fd);

            Vector2 anchor = new Vector2(-15.0f + 1 * i, 5.0f);
            jd.initialize(prevBody, body, anchor);
            world.createJoint(jd);
            prevBody = body;
        }

        shape.dispose();
    }

    {
        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.DynamicBody;
            bd.position.set(-14.5f + 1.0f * i, 15.0f);
            bd.gravityScale = 10.0f;
            Body body = world.createBody(bd);
            body.createFixture(fd);

            Vector2 anchor = new Vector2(-15.0f + 1.0f * i, 15.0f);
            jd.initialize(prevBody, body, anchor);
            world.createJoint(jd);

            prevBody = body;
        }

        shape.dispose();
    }

    {
        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.DynamicBody;
            bd.position.set(-4.5f + 1.0f * i, 5.0f);
            Body body = world.createBody(bd);
            body.createFixture(fd);

            if (i > 0) {
                Vector2 anchor = new Vector2(-5.0f + 1.0f * i, 5.0f);
                jd.initialize(prevBody, body, anchor);
                world.createJoint(jd);
            }

            prevBody = body;
        }

        shape.dispose();
    }

    {
        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.DynamicBody;
            bd.position.set(5.5f + 1.0f * i, 10.0f);
            bd.gravityScale = 10.0f;
            Body body = world.createBody(bd);
            body.createFixture(fd);

            if (i > 0) {
                Vector2 anchor = new Vector2(5.0f + 1.0f * i, 10.0f);
                jd.initialize(prevBody, body, anchor);
                world.createJoint(jd);
            }

            prevBody = body;
        }

        shape.dispose();
    }

    for (int i = 0; i < 2; i++) {
        Vector2[] vertices = new Vector2[3];
        vertices[0] = new Vector2(-0.5f, 0);
        vertices[1] = new Vector2(0.5f, 0);
        vertices[2] = new Vector2(0, 1.5f);

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

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

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

        shape.dispose();
    }

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

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

        BodyDef bd = new BodyDef();
        bd.type = BodyType.DynamicBody;
        bd.position.set(-6.0f + 6.0f * i, 10.0f);
        Body body = world.createBody(bd);
        body.createFixture(fd);
        shape.dispose();
    }
}

---

From source file:com.badlogic.gdx.tests.box2d.Chain.java

License:Apache License

@Override
protected void createWorld(World world) {
    Body ground;//from  w  w w .  j a  v a2 s.c  o  m

    {
        BodyDef bd = new BodyDef();
        ground = world.createBody(bd);

        EdgeShape shape = new EdgeShape();
        shape.set(new Vector2(-40, 0), new Vector2(40, 0));

        ground.createFixture(shape, 0.0f);
        shape.dispose();
    }

    {
        PolygonShape shape = new PolygonShape();
        shape.setAsBox(0.6f, 0.125f);

        FixtureDef fd = new FixtureDef();
        fd.shape = shape;
        fd.density = 20.0f;
        fd.friction = 0.2f;

        RevoluteJointDef jd = new RevoluteJointDef();
        jd.collideConnected = false;

        float y = 25.0f;
        Body prevBody = ground;

        for (int i = 0; i < 30; i++) {
            BodyDef bd = new BodyDef();
            bd.type = BodyType.DynamicBody;
            bd.position.set(0.5f + i, y);
            Body body = world.createBody(bd);
            body.createFixture(fd);

            Vector2 anchor = new Vector2(i, y);
            jd.initialize(prevBody, body, anchor);
            world.createJoint(jd);
            prevBody = body;
        }

        shape.dispose();
    }
}

---

From source file:com.badlogic.gdx.tests.box2d.CollisionFiltering.java

License:Apache License

@Override
protected void createWorld(World world) {
    {/*from www .j  ava  2 s.c o m*/
        EdgeShape shape = new EdgeShape();
        shape.set(new Vector2(-40.0f, 0), new Vector2(40, 0));

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

        BodyDef bd = new BodyDef();
        Body ground = world.createBody(bd);
        ground.createFixture(fd);
        shape.dispose();
    }

    Vector2[] vertices = new Vector2[3];
    vertices[0] = new Vector2(-1, 0);
    vertices[1] = new Vector2(1, 0);
    vertices[2] = new Vector2(0, 2);
    PolygonShape polygon = new PolygonShape();
    polygon.set(vertices);

    FixtureDef triangleShapeDef = new FixtureDef();
    triangleShapeDef.shape = polygon;
    triangleShapeDef.density = 1.0f;

    triangleShapeDef.filter.groupIndex = k_smallGroup;
    triangleShapeDef.filter.categoryBits = k_triangleCategory;
    triangleShapeDef.filter.maskBits = k_triangleMask;

    BodyDef triangleBodyDef = new BodyDef();
    triangleBodyDef.type = BodyType.DynamicBody;
    triangleBodyDef.position.set(-5, 2);

    Body body1 = world.createBody(triangleBodyDef);
    body1.createFixture(triangleShapeDef);

    vertices[0].scl(2);
    vertices[1].scl(2);
    vertices[2].scl(2);

    polygon.set(vertices);
    triangleShapeDef.filter.groupIndex = k_largeGroup;
    triangleBodyDef.position.set(-5, 6);
    triangleBodyDef.fixedRotation = true;

    Body body2 = world.createBody(triangleBodyDef);
    body2.createFixture(triangleShapeDef);

    {
        BodyDef bd = new BodyDef();
        bd.type = BodyType.DynamicBody;
        bd.position.set(-5, 10);
        Body body = world.createBody(bd);

        PolygonShape p = new PolygonShape();
        p.setAsBox(0.5f, 1.0f);
        body.createFixture(p, 1);

        PrismaticJointDef jd = new PrismaticJointDef();
        jd.bodyA = body2;
        jd.bodyB = body;
        jd.enableLimit = true;
        jd.localAnchorA.set(0, 4);
        jd.localAnchorB.set(0, 0);
        jd.localAxisA.set(0, 1);
        jd.lowerTranslation = -1;
        jd.upperTranslation = 1;

        world.createJoint(jd);

        p.dispose();
    }

    polygon.setAsBox(1, 0.5f);
    FixtureDef boxShapeDef = new FixtureDef();
    boxShapeDef.shape = polygon;
    boxShapeDef.density = 1;
    boxShapeDef.restitution = 0.1f;

    boxShapeDef.filter.groupIndex = k_smallGroup;
    boxShapeDef.filter.categoryBits = k_boxCategory;
    boxShapeDef.filter.maskBits = k_boxMask;

    BodyDef boxBodyDef = new BodyDef();
    boxBodyDef.type = BodyType.DynamicBody;
    boxBodyDef.position.set(0, 2);

    Body body3 = world.createBody(boxBodyDef);
    body3.createFixture(boxShapeDef);

    polygon.setAsBox(2, 1);
    boxShapeDef.filter.groupIndex = k_largeGroup;
    boxBodyDef.position.set(0, 6);

    Body body4 = world.createBody(boxBodyDef);
    body4.createFixture(boxShapeDef);

    CircleShape circle = new CircleShape();
    circle.setRadius(1);

    FixtureDef circleShapeDef = new FixtureDef();
    circleShapeDef.shape = circle;
    circleShapeDef.density = 1.0f;

    circleShapeDef.filter.groupIndex = k_smallGroup;
    circleShapeDef.filter.categoryBits = k_circleCategory;
    circleShapeDef.filter.maskBits = k_circleMask;

    BodyDef circleBodyDef = new BodyDef();
    circleBodyDef.type = BodyType.DynamicBody;
    circleBodyDef.position.set(5, 2);

    Body body5 = world.createBody(circleBodyDef);
    body5.createFixture(circleShapeDef);

    circle.setRadius(2);
    circleShapeDef.filter.groupIndex = k_largeGroup;
    circleBodyDef.position.set(5, 6);

    Body body6 = world.createBody(circleBodyDef);
    body6.createFixture(circleShapeDef);
}

---

From source file:com.badlogic.gdx.tests.box2d.Prismatic.java

License:Apache License

@Override
protected void createWorld(World world) {
    Body ground;//from w ww .  j  a va  2  s . com

    {
        BodyDef bd = new BodyDef();
        ground = world.createBody(bd);
        EdgeShape shape = new EdgeShape();
        shape.set(new Vector2(-40, 0), new Vector2(40, 0));
        ground.createFixture(shape, 0);
        shape.dispose();
    }

    {
        PolygonShape shape = new PolygonShape();
        shape.setAsBox(2, 5);

        BodyDef bd = new BodyDef();
        bd.type = BodyType.DynamicBody;
        bd.position.set(-10, 10);
        bd.angle = 0.5f * (float) Math.PI;
        bd.allowSleep = false;

        Body body = world.createBody(bd);
        body.createFixture(shape, 5.0f);

        PrismaticJointDef pjd = new PrismaticJointDef();

        Vector2 axis = new Vector2(2, 1);
        axis.nor();
        pjd.initialize(ground, body, new Vector2(0, 0), axis);

        pjd.motorSpeed = 10.0f;
        pjd.maxMotorForce = 10000.0f;
        pjd.enableMotor = true;
        pjd.lowerTranslation = 0;
        pjd.upperTranslation = 20.0f;
        pjd.enableLimit = true;

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

---

From source file:com.tnf.ptm.entities.ship.ShipBuilder.java

License:Apache License

private PrismaticJoint createDoorJoint(Body shipBody, World w, Vector2 shipPos, Vector2 doorRelPos,
        float shipAngle) {
    Body doorBody = createDoorBody(w, shipPos, doorRelPos, shipAngle);
    PrismaticJointDef jd = new PrismaticJointDef();
    jd.initialize(shipBody, doorBody, shipPos, Vector2.Zero);
    jd.localAxisA.set(1, 0);/* w w  w .j ava  2s. c om*/
    jd.collideConnected = false;
    jd.enableLimit = true;
    jd.enableMotor = true;
    jd.lowerTranslation = 0;
    jd.upperTranslation = Door.DOOR_LEN;
    jd.maxMotorForce = 2;
    return (PrismaticJoint) w.createJoint(jd);
}

---

From source file:de.cwclan.gdxtest.core.entities.Car.java

public Car(World world, FixtureDef chassisFixtureDef, FixtureDef wheelFixtureDef, float x, float y, float width,
        float height) {
    this.world = world;
    BodyDef bodyDef = new BodyDef();
    bodyDef.type = BodyDef.BodyType.DynamicBody;
    bodyDef.position.set(x, y);/*from   w  ww .j a  v a2 s  . c  o  m*/

    //chassis
    PolygonShape chassisShape = new PolygonShape();
    chassisShape.set(new float[] { -width / 2, -height / 2, width / 2, -height / 2, width / 2 * .4f, height / 2,
            -width / 2 * .8f, height / 2 * .8f });
    chassisFixtureDef.shape = chassisShape;
    chassis = world.createBody(bodyDef);
    chassis.createFixture(chassisFixtureDef);

    CircleShape wheelShape = new CircleShape();
    wheelShape.setRadius(height / 3.5f);
    wheelFixtureDef.shape = wheelShape;

    //left wheel
    leftWheel = world.createBody(bodyDef);
    leftWheel.createFixture(wheelFixtureDef);

    //right wheel
    rightWheel = world.createBody(bodyDef);
    rightWheel.createFixture(wheelFixtureDef);

    //left axis
    WheelJointDef axisDef = new WheelJointDef();
    axisDef.bodyA = chassis;
    axisDef.bodyB = leftWheel;
    axisDef.localAnchorA.set(-width / 2 * .75f + wheelShape.getRadius(), -height / 2 * 1.25f);
    axisDef.frequencyHz = chassisFixtureDef.density;
    axisDef.localAxisA.set(Vector2.Y);
    axisDef.maxMotorTorque = chassisFixtureDef.density * 10;

    leftAxis = (WheelJoint) world.createJoint(axisDef);

    //right axis
    axisDef.bodyB = rightWheel;
    axisDef.localAnchorA.x *= -1;

    rightAxis = (WheelJoint) world.createJoint(axisDef);
}

---

From source file:Helper.WorldUtils.java

public static void createAntelope(World world, Body body, Body backBody) {
    RevoluteJointDef jointDef = new RevoluteJointDef();
    jointDef.initialize(backBody, body, backBody.getWorldCenter());
    jointDef.collideConnected = true;/*from ww  w .  j ava2s. c  o m*/
    world.createJoint(jointDef);
}

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