[Box2D]Pendulum Clock （振り子時計のような何か）

Pendulum Clock?
chaos code
i don't want to read this again later..

forked:5
favorite:22
lines:578
license : MIT License
modified : 2010-02-10 01:28:07

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// Pendulum Clock?
//

// chaos code
// i don't want to read this again later..

package  
{
	import Box2D.Collision.b2AABB;
	import Box2D.Collision.Shapes.b2CircleDef;
	import Box2D.Collision.Shapes.b2CircleShape;
	import Box2D.Collision.Shapes.b2PolygonDef;
	import Box2D.Collision.Shapes.b2PolygonShape;
	import Box2D.Collision.Shapes.b2Shape;
	import Box2D.Common.Math.b2Mat22;
	import Box2D.Common.Math.b2Vec2;
	import Box2D.Common.Math.b2XForm;
	import Box2D.Dynamics.b2Body;
	import Box2D.Dynamics.b2BodyDef;
	import Box2D.Dynamics.b2DebugDraw;
	import Box2D.Dynamics.b2World;
	import Box2D.Common.Math.b2Math
	import Box2D.Dynamics.Joints.b2GearJoint;
	import Box2D.Dynamics.Joints.b2GearJointDef;
	import Box2D.Dynamics.Joints.b2RevoluteJoint;
	import Box2D.Dynamics.Joints.b2RevoluteJointDef;
	import com.bit101.components.Label;
	import com.bit101.components.PushButton;
	import flash.display.JointStyle;
	import flash.display.Shape;
	import flash.display.Sprite;
	import flash.events.Event;
	import flash.events.MouseEvent;
	import flash.text.TextField;
	import org.papervision3d.lights.PointLight3D;
	import org.papervision3d.materials.ColorMaterial;
	import org.papervision3d.materials.shadematerials.FlatShadeMaterial;
	import org.papervision3d.materials.shadematerials.PhongMaterial;
	import org.papervision3d.materials.utils.MaterialsList;
	import org.papervision3d.materials.WireframeMaterial;
	import org.papervision3d.objects.DisplayObject3D;
	import org.papervision3d.objects.primitives.Cube;
	import org.papervision3d.objects.primitives.Cylinder;
	import org.papervision3d.objects.primitives.Sphere;
	import org.papervision3d.view.BasicView;
	
	[SWF(width=465, height=465, frameRate=30, backgroundColor=0x222222)]
	public class MechanicalClock extends BasicView
	{
		public const Depth:Number = 35;
		public const BasicWheelSize:Number = 0.22;
		
		private var button:PushButton;
		
		public var m_world:b2World;
		private var dbgSprite:Sprite;
		private var physScale:Number = 60.0;
		private var timeStep:Number = 1 / 30;
		private var iteration:Number = 8;
		
		private var body:b2Body;
		
		private var cube:Cube;
		private var color:ColorMaterial;
		private var light:PointLight3D = new PointLight3D();
		
		private var shade:PhongMaterial =  new PhongMaterial(light, 0xfdfdfd, 0x555555,1);
		private var flatShade:FlatShadeMaterial = new FlatShadeMaterial(light, 0xfdfdfd,0x555555,1);

private var boxArray:Vector.<b2Body> = new Vector.<b2Body>();
		private var pvArray:Vector.<DisplayObject3D> = new Vector.<DisplayObject3D>();
		
		private var count:Number = 0;
		private var cameraDirection:Number = 2;
		private var cameraMove:Boolean = false;
		private var pendulum:b2Body;
		
		public function MechanicalClock() 
		{
			super(465,465,true,false,"Target");
			
			addEventListener(Event.ADDED_TO_STAGE, onInit);
		}
		
		private function onInit(e:Event):void 
		{
			removeEventListener(Event.ADDED_TO_STAGE, onInit);
			
			createBox2DWorld();
			createPV3DWorld();
			button = new PushButton(this, 120, 430, "", onDrawDebugButton);
			button.setSize(90, 25);
			var tt:TextField = new TextField();
			tt.text = "debug draw";
			tt.selectable = false;
			button.addChild(tt);

var cb:PushButton = new PushButton(this, 20, 430, "", onCameraMoveButton);
			cb.setSize(100, 25);
			tt =  new TextField();
			tt.text = "camera move/stop";
			tt.selectable = false;
			cb.addChild(tt);

addEventListener(Event.ENTER_FRAME, onEnter);
			addEventListener(MouseEvent.CLICK, onMouseDown);
		}
		
		private function onCameraMoveButton(e:MouseEvent):void
		{
			cameraMove = !cameraMove;
		}
		private function onDrawDebugButton(e:MouseEvent):void
		{
			if (m_world.m_debugDraw.m_drawFlags == 0x00) {
				m_world.m_debugDraw.m_drawFlags = 0x0001 | 0x0002;
			}else {
				m_world.m_debugDraw.m_drawFlags = 0x0000;
			}
			e.stopPropagation();
		}
		
		private function createBox2DWorld():void
		{
			var gravity:b2Vec2 = new b2Vec2(0, 29.8);
			var b2_world:b2AABB = new b2AABB();
			b2_world.lowerBound.Set( -5, -5);
			b2_world.upperBound.Set(10, 10);
			
			m_world = new b2World(b2_world, gravity, true);
			
			dbgSprite = new Sprite();
			addChild(dbgSprite);
			
			setDebugDraw();
						
			createDrumBarrel();
			createSecondWheel();
			createThirdWheel();			
			createEscapeWheel();	
			
		}
		
		private function createDrumBarrel():void
		{
			//body =  createDoubleGears(0x00, 0x01, 1.7, 1.86, BasicWheelSize , 0.3, 10, 7.5);	
			createGear(0x08, 1.7, 1.76, BasicWheelSize * 7.5, 0.3, 10 * 7.5,false,false,1,true);
		}
		
		private function createSecondWheel():void
		{
			createDoubleGears(0x08, 0x02, 1.8, 3.76, BasicWheelSize,0,10,8);
		}
		private function createThirdWheel():void
		{
			createDoubleGears(0x02, 0x04, 3.89, 3.5, BasicWheelSize, 1, 10, 10,false,true);
		}
		private function createEscapeWheel():void
		{
			var de:Number = 3;
			var categ1:uint = 0x04;
			var categ2:uint = 0x01;
			var xx:Number = 3.9;
			var yy:Number =  0.94;
			var rad:Number = BasicWheelSize;
			var offset:Number = 33;
			var num:int = 10;
			
			createAnchor(xx, 0.27);
			
			var j1:Array = createGear(categ1, xx, yy, rad, offset, num,true,false,de);
			var j2:Array = createGear(categ2, xx, yy, rad * 2, offset, num-7,false,true);
			var g:b2GearJointDef = new b2GearJointDef();
			g.body1 = j1[0];
			g.body2 = j2[0];
			g.joint1 = j1[1];
			g.joint2 = j2[1];
			g.ratio = -1;
			m_world.CreateJoint(g);

}

private function createDoubleGears(categ1:uint,categ2:uint, _x:Number, _y:Number, _rad:Number,_offset:Number,  num:int, scale:int, motor:Boolean = false, hands:Boolean = false):b2Body
		{
			var j1:Array = createGear(categ1, _x, _y, _rad, _offset, num);
			var j2:Array = createGear(categ2, _x, _y, _rad * scale, _offset, num*scale,motor,false,1,hands);
			var g:b2GearJointDef = new b2GearJointDef();
			g.body1 = j1[0];
			g.body2 = j2[0];
			g.joint1 = j1[1];
			g.joint2 = j2[1];
			g.ratio = -1;
			m_world.CreateJoint(g);
			
/*			var h:Array = createHands(0x00, _x, _y);
			
			var g2:b2GearJointDef = new b2GearJointDef();
			g2.body1 = j1[0];
			g2.body2 = h[0];
			g2.joint1 = j1[1];
			g2.joint2 = h[1];
			g2.ratio = -1;
			m_world.CreateJoint(g2);
*/			return g.body1;
		}
		
		private function createPV3DWorld():void
		{
			camera.z = -440;
			camera.y = -222;
			camera.x = 300;
			
			var tar:DisplayObject3D = new DisplayObject3D();
			tar.y = -200;
			tar.x = 210;
			tar.z = 50;
			camera.target = tar;
			
			//BetweenAS3.tween(camera, { x:500, y: 0, z: -400 }, {x:500,y:-500,z:-450}, 3, Linear.easeInOut).play();
			
			
			light.x = 100;
			light.y = 200;
			light.z = -300;
		}
		private function setDebugDraw():void
		{
			var dbgDraw:b2DebugDraw = new b2DebugDraw();
			dbgDraw.m_sprite = dbgSprite;
			dbgSprite.x = dbgSprite.y = 50;
			dbgDraw.m_drawScale = physScale;
			dbgDraw.m_fillAlpha = 0.6;
			dbgDraw.m_lineThickness = 2;
			dbgDraw.m_drawFlags = 0x0000;
			m_world.SetDebugDraw(dbgDraw);
		}
		
		
		private function onEnter(e:Event):void 
		{
			if (cameraMove) {
				camera.moveLeft(11);
				
				camera.moveDown(cameraDirection);
				if (camera.y > 220 || camera.y < -330) {
					cameraDirection *= -1;
					camera.moveDown(cameraDirection*2);
				}
					
			}
			light.copyPosition(camera);
			count += 1;
			m_world.Step(timeStep, iteration);
			for each(var body:b2Body in boxArray)
			{	
				var xf:b2XForm = body.m_xf;
				for (var s:b2Shape = body.GetShapeList(); s; s = s.m_next)
				{
					var bits:uint = s.GetFilterData().categoryBits;
					
					if (bits == 0x02) {
						if (count % 2 == 0) {
							drawShape(s, xf);
						}
					}else if (bits == 0x01) {	
						if (s.GetUserData().escape == 0) {
							
							if (count % 15 == 0) {
								drawShape(s, xf);
							}
						}else {
							drawShape(s, xf);
						}
					}else {
						drawShape(s, xf);
					}
				}
			}
			singleRender();
		}
		private function drawShape(s:b2Shape, xf:b2XForm):void
		{
			var center:b2Vec2;
			var angle:Number = 0;
			var disp:DisplayObject3D;
			
			if (s is b2PolygonShape) {
				var ss:b2PolygonShape = s as b2PolygonShape;
				center = b2Math.b2MulX(xf, ss.GetCentroid());
				
				if (ss.GetUserData().rev != false) {
					angle = Math.atan2( center.x - xf.position.x, center.y - xf.position.y) + Math.PI*0.5 ;
					
				}else {
					angle = Math.atan2( center.x - xf.position.x, center.y - xf.position.y) ;
				}
				var ee:Number = ss.GetUserData().escape;
				if(ee != -2) angle -= ss.GetUserData().escape;
				disp = ss.GetUserData().obj;

}else if (s is b2CircleShape) {
				var sss:b2CircleShape = s as b2CircleShape;
				center = b2Math.b2MulX(xf, sss.GetLocalPosition());
				if (sss.GetUserData().rev != null) {
					angle = -(sss.GetUserData().rev as b2RevoluteJoint).GetJointAngle();
					
				}else {
					angle = -sss.GetBody().GetAngle();
				}
				disp = sss.GetUserData().obj;
			}
			
			disp.x = center.x*physScale;
			disp.y = -center.y * physScale;
			
			
			disp.rotationZ = angle*180/Math.PI;
		}
		
		private function onMouseDown(e:MouseEvent):void 
		{
			pendulum.ApplyImpulse(new b2Vec2( -6, 0), new b2Vec2(0, 6) );

}
		
		private function createAnchor(xx:Number, yy:Number):void
		{
			const hei:Number = 0.14;
			const boxWid:Number = 0.05;
			const boxHand:Number = 0.41;
			
			var bodyDef:b2BodyDef = new b2BodyDef();
			bodyDef.position.Set(xx,yy);
			var boxDef1:b2PolygonDef = new b2PolygonDef();
			boxDef1.SetAsOrientedBox(boxWid,hei,new b2Vec2(-boxHand,hei-0.1), -0.6);
			boxDef1.density = 0;
			boxDef1.friction = 0;
			boxDef1.restitution = 0;
			
			var boxDef2:b2PolygonDef = new b2PolygonDef();
			boxDef2.SetAsOrientedBox(boxWid,hei,new b2Vec2(boxHand,hei-0.1),0.6);
			boxDef2.density = 0;
			boxDef2.friction = 0;
			boxDef2.restitution = 0;
			
			var boxDef3:b2PolygonDef = new b2PolygonDef();
			boxDef3.SetAsOrientedBox(boxHand*1.5,boxWid,new b2Vec2(0,-0.1));
			boxDef3.density = 0;
			boxDef3.friction = 1;
			boxDef3.restitution = 0;
			
			var boxDef4:b2PolygonDef = new b2PolygonDef();
			boxDef4.SetAsOrientedBox(boxWid/2,2,new b2Vec2(0,1.3));
			boxDef4.density = 0.001;
			boxDef4.friction = 0;
			boxDef4.restitution = 0;

var circle:b2CircleDef = new b2CircleDef();
			circle.radius = 0.3;
			circle.density = 11;
			circle.friction = 1;
			circle.restitution = 1;
			circle.localPosition = new b2Vec2(0,2.2);
			circle.filter.categoryBits = 0x10;
			boxDef4.filter.categoryBits = 0x10;
			
			
			var body:b2Body = m_world.CreateBody(bodyDef);
			
			var ss1:b2PolygonShape = body.CreateShape(boxDef1) as b2PolygonShape;
			var ss2:b2PolygonShape = body.CreateShape(boxDef2) as b2PolygonShape;
			var ss3:b2PolygonShape = body.CreateShape(boxDef3) as b2PolygonShape;
			var cir:b2CircleShape = body.CreateShape(circle) as b2CircleShape;
			var string:b2PolygonShape = body.CreateShape(boxDef4) as b2PolygonShape;
			
			var pivot:b2CircleDef = new b2CircleDef();
			pivot.radius = 0.02;
			pivot.density = 0;
			pivot.friction = 0.3;
			pivot.restitution = 0.2;
			pivot.filter.categoryBits = 0x00;

boxDef1.filter.categoryBits = boxDef2.filter.categoryBits = boxDef3.filter.categoryBits = pivot.filter.categoryBits = 0x01;
			boxDef1.filter.maskBits = boxDef2.filter.maskBits = boxDef3.filter.maskBits = pivot.filter.maskBits = 0x01;
			
			body.SetMassFromShapes();
			body.ApplyImpulse(new b2Vec2(-9, 0), new b2Vec2(0,4) );
			pendulum = body
			
			var bodyDef2:b2BodyDef = new b2BodyDef();
			bodyDef2.position.Set(xx,yy);

var joint:b2Body = m_world.GetGroundBody();
			var revoluteJoint:b2RevoluteJointDef = new b2RevoluteJointDef();
			revoluteJoint.Initialize(joint,body, new b2Vec2(xx, yy-0.1) );
			
			var rev:b2RevoluteJoint = m_world.CreateJoint(revoluteJoint) as b2RevoluteJoint;
			addPVBox(0x10, ss1, boxWid*physScale, hei*physScale,true,-2);
			addPVBox(0x10, ss2, boxWid*physScale, hei*physScale,true, -2);
			addPVBox(0x10, ss3, boxWid * physScale, boxHand * 1.5 * physScale, true, -3);
			addPVBox(0x20, string,1.3*physScale, boxWid/2 * physScale,true,-1);

addPVSphere(0x20, cir, 0.5 * physScale,rev);
			
			boxArray.push(body);
		}
		
		private function createHands(category:uint, xx:Number, yy:Number):Array
		{
			const w:Number = 0.05;
			const h:Number = 1;
			var boxDef:b2PolygonDef = new b2PolygonDef();
			boxDef.SetAsOrientedBox(w,h,new b2Vec2(0,h));
			boxDef.density = 0.001;
			boxDef.friction = 0;
			boxDef.restitution = 0;
			boxDef.filter.categoryBits = category;
			var bodyDef:b2BodyDef = new b2BodyDef();
			bodyDef.position.Set(xx, yy);
			var body:b2Body = m_world.CreateBody(bodyDef);
			var ss:b2PolygonShape = body.CreateShape(boxDef) as b2PolygonShape;
			body.SetMassFromShapes();
			
			
			boxArray.push(body);
			
			
			addPVHand(0x00,ss, w*physScale, h*physScale);
			
			var bodyDef2:b2BodyDef = new b2BodyDef();
			bodyDef2.position.Set(xx, yy);			
			var joint:b2Body = m_world.CreateBody(bodyDef2);
			var pivot:b2CircleDef = new b2CircleDef();
			pivot.radius = 0.1;
			pivot.density = 0;
			pivot.friction = 0;
			pivot.restitution = 0;
			pivot.filter.categoryBits = 0x00;
			var c:b2CircleShape = joint.CreateShape(pivot) as b2CircleShape;
			boxArray.push(joint);
			
			var revoluteJoint:b2RevoluteJointDef = new b2RevoluteJointDef();
			revoluteJoint.Initialize(joint,body, new b2Vec2(xx, yy) );
			
			var rev:b2RevoluteJoint = m_world.CreateJoint(revoluteJoint) as b2RevoluteJoint;
			addPVCircle(0x00, c, 0.05 * physScale,rev,-2);

return new Array(body, rev);
		}
		
		private function addPVHand(category:uint, base:b2PolygonShape, wid:Number, hei:Number):void
		{
			var obj:Cube = new Cube(new MaterialsList( { all:shade } ), wid * 2, Depth / 6 , hei * 2, 1, 1, 1);
			
			scene.addChild(obj);
			pvArray.push(obj);
			
			base.m_userData = { obj:obj, rev:false , escape:0 };
			obj.z = -37;
		}
		
		private function AddBox(_x:Number, _y:Number, _halfwidth:Number, _halfheight:Number):b2Body 
		{
			var bodyDef:b2BodyDef = new b2BodyDef();
			bodyDef.position.Set(_x,_y);
			var boxDef:b2PolygonDef = new b2PolygonDef();
			boxDef.SetAsBox(_halfwidth,_halfheight);
			boxDef.density = 1.0;
			boxDef.friction = 0.3;
			boxDef.restitution = 0.2;
			var body:b2Body = m_world.CreateBody(bodyDef);
			var ss:b2PolygonShape = body.CreateShape(boxDef) as b2PolygonShape;
			body.SetMassFromShapes();
			
			boxArray.push(body);
			addPVBox(0x00,ss, _halfwidth*physScale, _halfheight*physScale);
			return body;
		}
		
		private function addPVBox(category:uint, base:b2PolygonShape, wid:Number, hei:Number, rev:Boolean = false, escape:Number = 0, dep:Number = 1):void
		{

var obj:Cube = new Cube(new MaterialsList( { all:shade } ), wid * 2, Depth * dep, hei * 2, 1, 1, 1);
			if (escape == -1) {   //string
				obj = new Cube(new MaterialsList( { all:flatShade } ), wid * 2, Depth * dep / 10, hei * 2, 1, 1, 1);
				escape = 0;
			}else if (escape < -1) {
				obj = new Cube(new MaterialsList( { all:shade } ), wid * 2, Depth * dep *1.8, hei * 2, 1, 1, 1);
				escape = -2;
			}
			scene.addChild(obj);
			pvArray.push(obj);
			switch(category)
			{
				case 0x01: obj.z = 0; break;
				case 0x02: obj.z = Depth; break;
				case 0x04: obj.z = Depth * 2; break;
				case 0x08: obj.z = 0; break;
				case 0x10: obj.z = -Depth*0.7; break;
				case 0x20: obj.z = -Depth * 1.3; break;
			}

base.m_userData = { obj:obj, rev:rev , escape:escape};
			if (dep != 1) {
				obj.z -= dep * Depth/3;
			}

}

private function AddCircle(_x:Number, _y:Number, _radius:Number):b2Body 
		{
			var bodyDef:b2BodyDef = new b2BodyDef();
			bodyDef.position.Set(_x,_y);
			var cirDef:b2CircleDef = new b2CircleDef();
			cirDef.radius = _radius;
			cirDef.density = 1.0;
			cirDef.friction = 0.3;
			cirDef.restitution = 0.2;
			cirDef.filter.categoryBits = 0x04;
			var body:b2Body = m_world.CreateBody(bodyDef);
			var ss:b2CircleShape = body.CreateShape(cirDef) as b2CircleShape;
			body.SetMassFromShapes();
			
			boxArray.push(body);
			addPVCircle(0x01, ss, _radius * physScale);
			return body;
		}

private function addPVCircle(category:uint, base:b2CircleShape, rad:Number, rev:b2RevoluteJoint = null, dep:Number = 1):void
		{
			var obj:Cylinder = new Cylinder(shade, rad, Depth*dep, 15, 2);
			obj.rotationX = 90;
			
			switch(category) {
				case 0x01: obj.z = 0; break;
				case 0x02: obj.z = Depth; break;
				case 0x04: obj.z = Depth * 2; break;
				case 0x08: obj.z = 0; break;
				case 0x10: obj.z = -Depth; break;
				case 0x20: obj.z = -Depth * 1.3; break;
			}
			if (dep != 1) {
				obj.z -= dep * Depth/3;
			}
			if (dep == -2) {    // axis
				obj.z -= Depth*0.7;
			}
			scene.addChild(obj);
			pvArray.push(obj);
			base.m_userData = { obj:obj, rev:rev };
		}
		private function addPVSphere(category:uint, base:b2CircleShape, rad:Number, rev:b2RevoluteJoint = null, dep:Number = 1):void
		{
			var obj:Sphere = new Sphere(flatShade, rad,4,3);
			
			switch(category) {
				case 0x01: obj.z = 0; break;
				case 0x02: obj.z = Depth; break;
				case 0x04: obj.z = Depth * 2; break;
				case 0x08: obj.z = 0; break;
				case 0x10: obj.z = -Depth * 0.7; break;
				case 0x20: obj.z = -Depth * 1.3; break;
			}
			if (dep != 1) {
				obj.z -= dep * Depth/3;
			}
			scene.addChild(obj);
			pvArray.push(obj);
			base.m_userData = { obj:obj, rev:rev };
		}

private function addStaticBox(_x:Number, _y:Number, _halfWidth:Number, _halfHeight:Number, rot:Number=0):b2Body
		{
			var bodyDef:b2BodyDef = new b2BodyDef();
			bodyDef.position.Set(_x, _y);
			
			var boxDef:b2PolygonDef = new b2PolygonDef();
			boxDef.SetAsOrientedBox(_halfWidth, _halfHeight);// , null, rot);
			boxDef.density = 0;
			
			var body:b2Body = m_world.CreateBody(bodyDef);
			
			
			var ss:b2PolygonShape = body.CreateShape(boxDef) as b2PolygonShape;
			body.SetMassFromShapes();
			
			boxArray.push(body);
			addPVBox(0x01, ss, _halfWidth*physScale, _halfHeight*physScale);

return body;
		}

private function createGear(categ:uint, _x:Number, _y:Number, _rad:Number,_offset:Number,  num:int, motor:Boolean = false, escape:Boolean = false, dep:Number = 1, hands:Boolean = false):Array
		{
			var revoluteJoint:b2RevoluteJointDef= new b2RevoluteJointDef();
			
			var pivot:b2CircleDef = new b2CircleDef();
			pivot.radius = _rad;
			pivot.density = 0;
			pivot.friction = 0.01;
			pivot.restitution = 0.01;			
			pivot.filter.categoryBits = categ;
			pivot.filter.maskBits = categ;
			
			
/*			var bodyDef3:b2BodyDef = new b2BodyDef();
			bodyDef3.position.Set(_x, _y);
			
			var joint:b2Body = m_world.CreateBody(bodyDef2);
			var jj:b2CircleShape = joint.CreateShape(pivot) as b2CircleShape;
			joint.SetMassFromShapes();
			
			var pivot:b2CircleDef = new b2CircleDef();
			pivot.radius = _rad;
			pivot.density = 0;
			pivot.friction = 0.01;
			pivot.restitution = 0.01;			
			pivot.filter.categoryBits = categ;
			pivot.filter.maskBits = categ;
*/			
			
			var bodyDef2:b2BodyDef = new b2BodyDef();
			bodyDef2.position.Set(_x, _y);
			
			var joint:b2Body = m_world.CreateBody(bodyDef2);
			var jj:b2CircleShape = joint.CreateShape(pivot) as b2CircleShape;
			joint.SetMassFromShapes();
			
			
			var bodyDef:b2BodyDef =  new b2BodyDef();
			bodyDef.position.Set(_x, _y);
			
			var body:b2Body = m_world.CreateBody(bodyDef);
			
			var gearWid:Number = 0.093;
			var gearHei:Number = 0.04;
			
			var angle:Number;
			var i:int;
			var xx:Number, yy:Number;
			var boxDef:b2PolygonDef;
			var ss:b2PolygonShape;
			if (escape == false) {
				for (i = 0; i < num; i++)
				{
					angle = i * (360 / num) * Math.PI / 180;
					angle += _offset * Math.PI / 180;
					xx = _rad * Math.cos(angle);
					yy = _rad * Math.sin(angle);
					
					boxDef = new b2PolygonDef();
					//boxDef.SetAsOrientedBox(gearWid, gearHei, new b2Vec2(xx, yy), angle);
					var xfPosition:b2Vec2 = new b2Vec2(xx,yy);
					var xfR:b2Mat22 = new b2Mat22();
					xfR.Set(angle);
					var center:b2Vec2 = new b2Vec2(xx, yy);
					var hx:Number = gearWid;
					var hy:Number = gearHei;
/*					boxDef.vertexCount = 4;
					boxDef.vertices[0].Set(0, -hy*1.2);
					boxDef.vertices[1].Set( hx, -hy/6);
					boxDef.vertices[2].Set( hx,  hy/6);
					boxDef.vertices[3].Set(0,  hy*1.2);

for (var j:int = 0; j < 4; ++j)
					{
						center = boxDef.vertices[j];
						hx = xfPosition.x + (xfR.col1.x * center.x + xfR.col2.x * center.y)
						center.y = xfPosition.y + (xfR.col1.y * center.x + xfR.col2.y * center.y)
						center.x = hx;
					}

*/			
					boxDef.vertexCount = 3;
					boxDef.vertices[0].Set(0, -hy*1.6);
					boxDef.vertices[1].Set( hx, 0);
					boxDef.vertices[2].Set( 0,  hy*1.6);

for (var j:int = 0; j < 3; ++j)
					{
						center = boxDef.vertices[j];
						hx = xfPosition.x + (xfR.col1.x * center.x + xfR.col2.x * center.y)
						center.y = xfPosition.y + (xfR.col1.y * center.x + xfR.col2.y * center.y)
						center.x = hx;
					}

boxDef.density = 0.01;
					boxDef.friction = 0;
					boxDef.restitution = 0;
					boxDef.filter.categoryBits = categ;
					boxDef.filter.maskBits = categ;
					
					ss = body.CreateShape(boxDef) as b2PolygonShape;
					addPVBox(categ,ss, gearWid*physScale, gearHei*physScale, true,0,dep);
				}

}else {
				for (i = 0; i < num; i++)
				{
					var escapeAngle:Number = -0.5;
					angle = i * (360 / num) * Math.PI / 180;
					angle += _offset * Math.PI / 180;
					xx = _rad * Math.cos(angle);
					yy = _rad * Math.sin(angle);
					
					boxDef = new b2PolygonDef();
					boxDef.SetAsOrientedBox(gearWid*1.7, gearHei, new b2Vec2(xx, yy),angle + escapeAngle);
					boxDef.density = 0.01;
					boxDef.friction = 0;
					boxDef.restitution = 0;
					boxDef.filter.categoryBits = categ;
					boxDef.filter.maskBits = categ;
					
					ss = body.CreateShape(boxDef) as b2PolygonShape;
					
					addPVBox(categ,ss, gearWid*1.7*physScale, gearHei/2*physScale, true, escapeAngle, dep);
				}
			}
			
			body.SetMassFromShapes();
			boxArray.push(body);

revoluteJoint.Initialize(joint, body, joint.GetPosition());
			
			revoluteJoint.enableMotor = motor;
			
			revoluteJoint.motorSpeed = -2.5;
			
			revoluteJoint.maxMotorTorque = 0.007;
			var rev:b2RevoluteJoint= m_world.CreateJoint(revoluteJoint) as b2RevoluteJoint;
			
			
			addPVCircle(categ, jj, _rad * physScale,rev,dep);
			boxArray.push(joint);
			
			
			if (hands) {
				var h:Array = createHands(0x00, _x, _y);
				var g2:b2GearJointDef = new b2GearJointDef();
				g2.body1 = joint;
				g2.body2 = h[0];
				g2.joint1 = rev;
				g2.joint2 = h[1];
				g2.ratio = -1;
				m_world.CreateJoint(g2);	
			}

return new Array(joint, rev);

}
	}
}

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