Creating a sling with Box2D using joints

This is an example about the creation of a sling using joints and motors.

Click the mouse to break the joint and release the bullet. Try to hit the stack of boxes.

I used a distance joint, a revolute joint and a motor. The code does not need to be commented because there is nothing new, just look how I destroy the joint to launch the bullet at lines 122-123

This is the source:

package {
	import flash.display.Sprite;
	import flash.events.Event;
	import Box2D.Dynamics.*;
	import Box2D.Collision.*;
	import Box2D.Collision.Shapes.*;
	import Box2D.Common.Math.*;
	import Box2D.Dynamics.Joints.*;
	import flash.events.MouseEvent;
	public class sling extends Sprite {
		var mouseJoint:b2MouseJoint;
		var mousePVec:b2Vec2=new b2Vec2;
		var bd:b2BodyDef;
		var the_box:b2PolygonDef=new b2PolygonDef;
		var the_pivot:b2CircleDef=new b2CircleDef;
		var the_rev_joint:b2RevoluteJointDef=new b2RevoluteJointDef;
		var the_dist_joint:b2DistanceJointDef = new b2DistanceJointDef();
		var dest_joint:b2DistanceJoint;
		public function sling() {
			// world setup
			var worldAABB:b2AABB=new b2AABB  ;
			worldAABB.lowerBound.Set(-100.0,-100.0);
			worldAABB.upperBound.Set(100.0,100.0);
			var gravity:b2Vec2=new b2Vec2(0.0,10.0);
			var doSleep:Boolean=true;
			m_world=new b2World(worldAABB,gravity,doSleep);
			// debug draw
			var m_sprite:Sprite;
			m_sprite=new Sprite;
			addChild(m_sprite);
			var dbgDraw:b2DebugDraw=new b2DebugDraw;
			var dbgSprite:Sprite=new Sprite;
			m_sprite.addChild(dbgSprite);
			dbgDraw.m_sprite=m_sprite;
			dbgDraw.m_drawScale=30;
			dbgDraw.m_alpha=1;
			dbgDraw.m_fillAlpha=0.5;
			dbgDraw.m_lineThickness=1;
			dbgDraw.m_drawFlags=b2DebugDraw.e_shapeBit|b2DebugDraw.e_jointBit;
			m_world.SetDebugDraw(dbgDraw);
			// the ground
			var final_body:b2Body;
			var the_body:b2BodyDef;
			var the_box:b2PolygonDef;
			the_body = new b2BodyDef();
			the_body.position.Set(8.5, 13);
			the_box = new b2PolygonDef();
			the_box.SetAsBox(8.5, 0.5);
			the_box.friction=0.3;
			the_box.density=0;
			final_body=m_world.CreateBody(the_body);
			final_body.CreateShape(the_box);
			final_body.SetMassFromShapes();
			// some boxes
			for (var i:int=0; i<7; i++) {
				the_body = new b2BodyDef();
				the_body.position.Set(12, 12-i);
				the_box = new b2PolygonDef();
				the_box.SetAsBox(0.5,0.5);
				the_box.friction=0.3;
				the_box.density=0.5;
				final_body=m_world.CreateBody(the_body);
				final_body.CreateShape(the_box);
				final_body.SetMassFromShapes();
			}
			// pivot for revolute joint
			the_pivot.radius=0.2;
			the_pivot.density=0;
			bd=new b2BodyDef  ;
			bd.position.Set(3,6.5);
			var rev_joint:b2Body=m_world.CreateBody(bd);
			rev_joint.CreateShape(the_pivot);
			rev_joint.SetMassFromShapes();
			// box for the revolute joint
			the_box.SetAsBox(2,0.1);
			the_box.density=0.01;
			the_box.friction=1;
			the_box.restitution=0.1;
			bd=new b2BodyDef  ;
			bd.position.Set(3,6.5);
			var rev_box:b2Body=m_world.CreateBody(bd);
			rev_box.CreateShape(the_box);
			rev_box.SetMassFromShapes();
			// revolute joint
			the_rev_joint.Initialize(rev_joint,rev_box,new b2Vec2(3,6.5));
			the_rev_joint.enableMotor=true;
			the_rev_joint.motorSpeed=10;
			the_rev_joint.maxMotorTorque=1000;
			var joint_added:b2RevoluteJoint=m_world.CreateJoint(the_rev_joint) as b2RevoluteJoint;
			// bullet
			the_box.SetAsBox(0.2,0.2);
			the_box.density=1.0;
			the_box.friction=0.4;
			the_box.restitution=0.1;
			bd = new b2BodyDef();
			bd.position.Set(2, 5);
			var bullet:b2Body=m_world.CreateBody(bd);
			bullet.CreateShape(the_box);
			bullet.SetMassFromShapes();
			// distance joint
			the_dist_joint.Initialize(bullet, rev_box, new b2Vec2(2,5),new b2Vec2(1,6.5));
			the_dist_joint.collideConnected=true;
			dest_joint=m_world.CreateJoint(the_dist_joint) as b2DistanceJoint;
			// listeners
			stage.addEventListener(MouseEvent.MOUSE_DOWN,createMouse);
			stage.addEventListener(MouseEvent.MOUSE_UP,destroyMouse);
			addEventListener(Event.ENTER_FRAME,Update,false,0,true);
		}
		public function createMouse(evt:MouseEvent):void {
			var body:b2Body=GetBodyAtMouse();
			if (body) {
				var mouseJointDef:b2MouseJointDef=new b2MouseJointDef  ;
				mouseJointDef.body1=m_world.GetGroundBody();
				mouseJointDef.body2=body;
				mouseJointDef.target.Set(mouseX / 30,mouseY / 30);
				mouseJointDef.maxForce=30000;
				mouseJointDef.timeStep=m_timeStep;
				mouseJoint=m_world.CreateJoint(mouseJointDef) as b2MouseJoint;
			}
		}
		public function destroyMouse(evt:MouseEvent):void {
			m_world.DestroyJoint(dest_joint);
			dest_joint=null;
			if (mouseJoint) {
				m_world.DestroyJoint(mouseJoint);
				mouseJoint=null;
			}
		}
		public function GetBodyAtMouse(includeStatic:Boolean=false):b2Body {
			var mouseXWorldPhys=mouseX/30;
			var mouseYWorldPhys=mouseY/30;
			mousePVec.Set(mouseXWorldPhys,mouseYWorldPhys);
			var aabb:b2AABB=new b2AABB  ;
			aabb.lowerBound.Set(mouseXWorldPhys - 0.001,mouseYWorldPhys - 0.001);
			aabb.upperBound.Set(mouseXWorldPhys + 0.001,mouseYWorldPhys + 0.001);
			var k_maxCount:int=10;
			var shapes:Array=new Array  ;
			var count:int=m_world.Query(aabb,shapes,k_maxCount);
			var body:b2Body=null;
			for (var i:int=0; i < count; ++i) {
				if (shapes[i].GetBody().IsStatic()==false||includeStatic) {
					var tShape:b2Shape=shapes[i] as b2Shape;
					var inside:Boolean=tShape.TestPoint(tShape.GetBody().GetXForm(),mousePVec);
					if (inside) {
						body=tShape.GetBody();
						break;
					}
				}
			}
			return body;
		}
		public function Update(e:Event):void {
			m_world.Step(m_timeStep,m_iterations);
			if (mouseJoint) {
				var mouseXWorldPhys=mouseX/30;
				var mouseYWorldPhys=mouseY/30;
				var p2:b2Vec2=new b2Vec2(mouseXWorldPhys,mouseYWorldPhys);
				mouseJoint.SetTarget(p2);
			}
		}
		public var m_world:b2World;
		public var m_iterations:int=10;
		public var m_timeStep:Number=1.0/30.0;
	}
}

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