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libgdx-box2d

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更新日2026年2月9日 22:20

Use when writing libGDX Java/Kotlin code involving Box2D physics — World creation/stepping, Body/BodyDef (Static/Kinematic/Dynamic), Fixture/FixtureDef, Shape types (PolygonShape/CircleShape/EdgeShape/ChainShape), collision filtering (categoryBits/maskBits/groupIndex), ContactListener callbacks, joints (Revolute/Distance/Prismatic/Weld/Mouse), Box2DDebugRenderer, pixels-to-meters conversion, or fixed timestep patterns. Use when debugging tunneling, bodies not colliding, crashes in contact callbacks, or sluggish physics movement.

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libGDX Box2D Physics

Quick reference for the libGDX Box2D JNI wrapper (com.badlogic.gdx.physics.box2d.*). Covers World, Body, Fixture, Shape, filtering, contacts, joints, debug rendering, and the PPM pattern.

Units — Box2D Works in Meters

Box2D is tuned for objects 0.1–10 meters. Using pixel coordinates causes sluggish movement (internal velocity cap is 2 units/timestep).

Approach 1 — PPM constant:

public static final float PPM = 100f; // 100 pixels = 1 meter

// Creating bodies:    bodyDef.position.set(pixelX / PPM, pixelY / PPM);
// Rendering sprites:  sprite.setPosition(body.getPosition().x * PPM, body.getPosition().y * PPM);
// Debug renderer:     debugRenderer.render(world, camera.combined.cpy().scl(PPM));

Approach 2 — Camera in meters (cleaner):

camera = new OrthographicCamera();
camera.setToOrtho(false, viewportWidthMeters, viewportHeightMeters);
// All game logic in meters. Debug renderer uses camera.combined directly.
debugRenderer.render(world, camera.combined);

World

World world = new World(new Vector2(0, -10f), true); // gravity, doSleep

Fixed timestep — the accumulator pattern (REQUIRED):

private static final float TIME_STEP = 1 / 60f;
private static final int VELOCITY_ITERATIONS = 6;
private static final int POSITION_ITERATIONS = 2;
private float accumulator = 0;

private void stepPhysics(float deltaTime) {
    float frameTime = Math.min(deltaTime, 0.25f); // cap to prevent spiral of death
    accumulator += frameTime;
    while (accumulator >= TIME_STEP) {
        world.step(TIME_STEP, VELOCITY_ITERATIONS, POSITION_ITERATIONS);
        accumulator -= TIME_STEP;
    }
}

DO NOT pass Gdx.graphics.getDeltaTime() directly to world.step() — variable timestep causes tunneling and non-deterministic behavior.

Key methods:

world.setContactListener(listener);                // ContactListener
world.setContactFilter(filter);                    // ContactFilter — boolean shouldCollide(Fixture, Fixture)
world.setGravity(new Vector2(0, -10f));
world.getGravity();                                // returns REUSED Vector2 — copy if storing
world.isLocked();                                  // true during step — cannot modify world

// Queries — coordinates in meters (world units)
world.QueryAABB(callback, lowerX, lowerY, upperX, upperY);  // note: capital Q
world.rayCast(callback, point1, point2);                     // Vector2 or float overloads

// Bulk retrieval — clears array first, then populates
Array<Body> bodies = new Array<>();
world.getBodies(bodies);                           // NOT a return-value method

world.dispose();                                   // MUST call when done

QueryCallback:

world.QueryAABB(fixture -> {
    // return false to stop query, true to continue
    return true;
}, lowerX, lowerY, upperX, upperY);

RayCastCallback — method is reportRayFixture (NOT reportFixture):

world.rayCast((fixture, point, normal, fraction) -> {
    // point and normal are REUSED — copy if storing
    // Return: -1=ignore fixture, 0=terminate, fraction=clip to closest, 1=continue
    return fraction; // closest-hit
}, startPoint, endPoint);

Body

BodyDef bodyDef = new BodyDef();
bodyDef.type = BodyDef.BodyType.DynamicBody; // StaticBody | KinematicBody | DynamicBody
bodyDef.position.set(x, y);                  // meters, NOT pixels
bodyDef.angle = 0;                           // radians, NOT degrees
bodyDef.fixedRotation = false;
bodyDef.bullet = false;                      // enable CCD for fast-moving bodies
bodyDef.gravityScale = 1;                    // per-body gravity multiplier (0 = no gravity)
Body body = world.createBody(bodyDef);

Also available on BodyDef: linearDamping, angularDamping (air resistance).

BodyType	Moves?	Responds to forces?	Collides with
StaticBody	No	No	Dynamic only
KinematicBody	Yes (via velocity)	No — use `setLinearVelocity()`	Dynamic only
DynamicBody	Yes	Yes	All types

Position: body.getPosition() (REUSED Vector2 — copy if storing!), body.getAngle() (radians), body.setTransform(x, y, angleRadians), body.getLinearVelocity() (REUSED), body.setLinearVelocity(vx, vy).

Forces (continuous, call every frame): applyForceToCenter(vec, wake), applyForce(vec, worldPoint, wake), applyTorque(torque, wake). Impulses (instantaneous): applyLinearImpulse(vec, worldPoint, wake), applyAngularImpulse(impulse, wake).

Other key methods: setUserData(obj) / getUserData(), getFixtureList() (NOT getFixtures()), setActive(false) (NOT setEnabled()), setSleepingAllowed(false) (NOT setAllowSleep()), setType(), setGravityScale(0).

Fixture & Shape

FixtureDef fixtureDef = new FixtureDef();
fixtureDef.shape = shape;             // REQUIRED
fixtureDef.density = 1f;             // default: 0 (no mass)
fixtureDef.friction = 0.3f;          // default: 0.2
fixtureDef.restitution = 0.1f;       // default: 0 (bounciness)
fixtureDef.isSensor = false;         // sensors detect overlap but don't collide
Fixture fixture = body.createFixture(fixtureDef);
// Convenience: body.createFixture(shape, density);

CRITICAL: Dispose shapes after creating fixtures. Box2D clones the shape internally — your Shape leaks native memory if not disposed.

Shape Types

PolygonShape — max 8 vertices, must be convex, wound CCW:

PolygonShape poly = new PolygonShape();
poly.setAsBox(halfWidth, halfHeight);             // HALF-extents, NOT full size!
poly.setAsBox(hx, hy, center, angleRadians);      // offset + rotated
poly.set(new float[]{x1,y1, x2,y2, x3,y3});      // arbitrary convex polygon
poly.dispose();

CircleShape: setRadius(meters), setPosition(offsetVec2). EdgeShape: single line segment — use ChainShape for terrain instead. ChainShape: createChain(float[]) (open) or createLoop(float[]) (closed), prevents ghost collisions at seams. All shapes must be disposed.

Fixture methods: setUserData() / getUserData(), getBody(), getShape() (do NOT dispose — owned by Box2D), setSensor(), testPoint(worldX, worldY), setFilterData(filter) (MUST call to propagate changes), setDensity() (must call body.resetMassData() after).

Collision Filtering

Three fields on FixtureDef.filter (type short):

Field	Default	Purpose
`categoryBits`	`0x0001`	What this fixture IS
`maskBits`	`-1` (0xFFFF)	What this fixture COLLIDES WITH
`groupIndex`	`0`	Override: positive=always collide, negative=never

Algorithm (priority order):

If both fixtures share the same non-zero groupIndex: positive = collide, negative = never
Otherwise: (A.mask & B.category) != 0 && (B.mask & A.category) != 0 — both must accept each other

Example — 16 categories max (short = 16 bits):

static final short PLAYER = 0x0001;
static final short ENEMY  = 0x0002;
static final short BULLET = 0x0004;
static final short WALL   = 0x0008;

// Player collides with enemies and walls, not own bullets
fixtureDef.filter.categoryBits = PLAYER;
fixtureDef.filter.maskBits = ENEMY | WALL;

// Bullet collides with enemies and walls only
fixtureDef.filter.categoryBits = BULLET;
fixtureDef.filter.maskBits = ENEMY | WALL;

Runtime filter changes:

Filter filter = new Filter();
filter.categoryBits = BULLET;
filter.maskBits = WALL;
fixture.setFilterData(filter); // MUST call — modifying getFilterData() fields without this is undefined

Use -1 for maskBits (collide with everything), not (short)0xFFFF. Both are equivalent but -1 is idiomatic and avoids the cast.

ContactListener

world.setContactListener(new ContactListener() {
    @Override public void beginContact(Contact contact) {
        Fixture a = contact.getFixtureA();
        Fixture b = contact.getFixtureB();
        // Order is NOT guaranteed — check both directions
    }
    @Override public void endContact(Contact contact) { }
    @Override public void preSolve(Contact contact, Manifold oldManifold) {
        // Can disable contact for this step (one-way platforms):
        contact.setEnabled(false);
    }
    @Override public void postSolve(Contact contact, ContactImpulse impulse) {
        float[] normals = impulse.getNormalImpulses(); // float[2]
        int count = impulse.getCount();                // how many points valid
    }
});

CRITICAL: Do NOT create/destroy bodies or joints inside ANY callback. Box2D is mid-step (world.isLocked() == true). Queue changes and apply after world.step():

private Array<Body> bodiesToDestroy = new Array<>();

// In ContactListener:
bodiesToDestroy.add(contact.getFixtureA().getBody());

// After world.step():
for (Body b : bodiesToDestroy) {
    world.destroyBody(b);
}
bodiesToDestroy.clear();

Joints

All joints share: JointDef.bodyA, JointDef.bodyB, JointDef.collideConnected (default false). Create with world.createJoint(def) — cast result to specific joint type.

MouseJoint — drag body to point (most common, no initialize()):

MouseJointDef def = new MouseJointDef();
def.bodyA = groundBody;       // static body (required anchor)
def.bodyB = draggedBody;
def.target.set(touchWorldX, touchWorldY);
def.maxForce = 1000f * draggedBody.getMass();
def.frequencyHz = 5f;
def.dampingRatio = 0.7f;
MouseJoint joint = (MouseJoint) world.createJoint(def);
// Update target each frame: joint.setTarget(newWorldPoint);

Other joints — all use def.initialize(bodyA, bodyB, ...) unless noted:

RevoluteJoint (pin/hinge): initialize(bodyA, bodyB, worldAnchor). Supports enableMotor/motorSpeed/maxMotorTorque, enableLimit/lowerAngle/upperAngle.
DistanceJoint (spring/rod): initialize(bodyA, bodyB, anchorA, anchorB). Uses frequencyHz/dampingRatio (NOT stiffness/damping).
PrismaticJoint (slider): initialize(bodyA, bodyB, worldAnchor, axisDirection). Supports motor and translation limits.
WeldJoint (glue): initialize(bodyA, bodyB, worldAnchor). frequencyHz=0 for rigid (may flex under stress).
RopeJoint (max distance): no initialize() — set bodyA/bodyB/localAnchorA/localAnchorB/maxLength directly.

Destroying joints: world.destroyJoint(joint). Destroying a body auto-destroys its joints — do NOT destroy the joint separately afterward.

Box2DDebugRenderer

Box2DDebugRenderer debugRenderer = new Box2DDebugRenderer();
// Or: new Box2DDebugRenderer(drawBodies, drawJoints, drawAABBs,
//                             drawInactiveBodies, drawVelocities, drawContacts);

// In render():
debugRenderer.render(world, camera.combined); // if camera is in meters
// OR with PPM:
debugRenderer.render(world, camera.combined.cpy().scl(PPM));

debugRenderer.dispose(); // MUST dispose — uses internal ShapeRenderer

Common Mistakes

Using pixel coordinates in Box2D — Bodies at (400, 300) pixels behave as 400-meter objects. Use meters (typically 0.1–10 range). Convert with PPM constant or use a camera in meter units.
Variable timestep — Passing getDeltaTime() directly to world.step() causes tunneling and jitter. Use the fixed-timestep accumulator pattern with 1/60f.
Destroying bodies in ContactListener — Crashes with native error. World is locked during callbacks. Queue bodies and destroy after world.step().
Forgetting shape.dispose() after createFixture() — Box2D clones the shape data. Your Java Shape still holds a native pointer that leaks if not disposed.
setAsBox(width, height) with full dimensions — PolygonShape.setAsBox() takes half-extents. setAsBox(2, 3) creates a 4x6 meter box.
Storing body.getPosition() reference — Returns a REUSED Vector2 that changes on every call. Copy the values: new Vector2(body.getPosition()).
Not checking both fixtures in ContactListener — getFixtureA()/getFixtureB() order is arbitrary. Always check both directions when identifying collision pairs.
Applying forces to KinematicBody — Kinematic bodies ignore forces and impulses entirely. Control them with setLinearVelocity() / setTransform().
Using EdgeShape for terrain — Adjacent EdgeShapes cause ghost collisions at seams. Use ChainShape instead.
Modifying filter without setFilterData() — Getting fixture.getFilterData() and changing fields without calling fixture.setFilterData(filter) does not propagate to native Box2D.
PolygonShape with >8 vertices or concave shape — Box2D silently fails or crashes. Max 8 vertices, must be convex, wound counter-clockwise.
Calling getFixtures() instead of getFixtureList() — The method is body.getFixtureList() returning Array<Fixture>. getFixtures() does not exist.

libgdx-box2d

このリポジトリの他の Skills

このリポジトリの他の Skills

libGDX Box2D Physics

Units — Box2D Works in Meters

World

Body

Fixture & Shape

Shape Types

Collision Filtering

ContactListener

Joints

Box2DDebugRenderer

Common Mistakes

libGDX Box2D Physics

Units — Box2D Works in Meters

World

Body

Fixture & Shape

Shape Types

Collision Filtering

ContactListener

Joints

Box2DDebugRenderer

Common Mistakes