private void CreateGroundAndWalls()
{
var grounDef = new BodyDef();
grounDef.type = BodyType.Static;
var groundFix = new FixtureDef();
groundFix.restitution = 1.0f;
groundFix.friction = 0.0f;
groundFix.density = 0.0f;
var groundShape = new PolygonShape();
groundShape.SetAsEdge(new Vector2(0, 8), new Vector2(4.8f, 8.0f));
var groundBody = world.CreateBody(grounDef);
groundFix.shape = groundShape;
groundBody.CreateFixture(groundFix);
groundShape.SetAsEdge(new Vector2(0, 0), new Vector2(0f, 8.0f));
var leftBody = world.CreateBody(grounDef);
groundFix.shape = groundShape;
leftBody.CreateFixture(groundFix);
groundShape.SetAsEdge(new Vector2(4.8f, 0), new Vector2(4.8f, 8.0f));
var rightBody = world.CreateBody(grounDef);
groundFix.shape = groundShape;
rightBody.CreateFixture(groundFix);
groundShape.SetAsEdge(new Vector2(0, 0), new Vector2(4.8f, 0));
var topBody = world.CreateBody(grounDef);
groundFix.shape = groundShape;
topBody.CreateFixture(groundFix);
}
public void LaunchBomb(Vector2 position, Vector2 velocity)
{
if (Bomb != default)
{
World.DestroyBody(Bomb);
Bomb = default;
}
var bd = new BodyDef
{
BodyType = BodyType.DynamicBody, Position = position,
Bullet = true
};
Bomb = World.CreateBody(bd);
Bomb.SetLinearVelocity(velocity);
var circle = new CircleShape {
Radius = 0.3f
};
var fd = new FixtureDef
{
Shape = circle, Density = 20.0f,
Restitution = 0.0f
};
Bomb.CreateFixture(fd);
}
private void AddBallBody(Vector2 position, Texture2D ballSprite)
{
//Ball body definition
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = position;
//Add circle shaped fixture to ball body
var circle = new CircleShape();
circle._radius = 26;
var fd = new FixtureDef();
fd.shape = circle;
fd.restitution = 1.0f;
fd.friction = 0.0f;
fd.density = 1.0f;
ballBody = physicsWorld.CreateBody(bd);
ballBody.CreateFixture(fd);
//Attach ball sprite reference to ball body
ballBody.SetUserData(ballSprite);
ballBody.SetLinearVelocity(new Vector2(50000000.0f, 100000000.0f));
}
public static void Separate(Body body, FixtureDef fixtureDef, Vector2[] vertices)
{
const float scale = 30;
int i;
var n = vertices.Length;
var vec = new List <Vector2>();
for (i = 0; i < n; i++)
{
vec.Add(new Vector2(vertices[i].X * scale, vertices[i].Y * scale));
}
var figsVec = CalcShapes(vec);
n = figsVec.Count;
for (i = 0; i < n; i++)
{
vec = figsVec[i];
vertices = new Vector2[vec.Count];
var m = vec.Count;
int j;
for (j = 0; j < m; j++)
{
vertices[j] = new Vector2(vec[j].X / scale, vec[j].Y / scale);
}
var polyShape = new PolygonShape();
polyShape.Set(vertices);
fixtureDef.Shape = polyShape;
body.CreateFixture(fixtureDef);
}
}
public Body CreateWall(World world, float ScaleFactor)
{
var grounDef = new BodyDef();
grounDef.type = BodyType.Static;
var groundFix = new FixtureDef();
groundFix.restitution = 1.0f;
groundFix.friction = 0.0f;
groundFix.density = 0.0f;
var groundShape = new PolygonShape();
//groundShape.SetAsEdge(new Vector2(0, 8), new Vector2(4.8f, 8.0f));
groundShape.SetAsBox(texture.Width * ScaleFactor / 2f, texture.Height * ScaleFactor / 2f);
var groundBody = world.CreateBody(grounDef);
groundBody.Position = new Vector2(2.4f, 4);
groundFix.shape = groundShape;
groundBody.CreateFixture(groundFix);
return(groundBody);
}
public PhysicsCircle(Texture2D sprite_texture, World physicsWorld, float radius,
float positionX, float positionY, float rotation, float density)
: base(sprite_texture)
{
this.scaleToFitTheseDimensions(radius * 2.0f, radius * 2.0f);
this.position.X = positionX;
this.position.Y = positionY;
this.rotation = rotation;
BodyDef dynamicBodyDef = new BodyDef();
dynamicBodyDef.type = BodyType.Dynamic;
dynamicBodyDef.position = new Vector2(positionX / ScreenPixelsPerMeter, positionY / ScreenPixelsPerMeter);
dynamicBodyDef.linearDamping = 0.0f;
Body dynamicBody = physicsWorld.CreateBody(dynamicBodyDef);
CircleShape dynamicCircleShape = new CircleShape();
dynamicCircleShape._radius = radius / DynamicPhysicsGameObject.ScreenPixelsPerMeter;
//dynamicBoxShape.
//dynamicBoxShape.SetAsBox(box_width / 2.0f, box_height / 2.0f); //experiment with / 2.0f
FixtureDef dynamicCircleFixtureDef = new FixtureDef();
dynamicCircleFixtureDef.shape = dynamicCircleShape;
dynamicCircleFixtureDef.density = density;
dynamicCircleFixtureDef.friction = 0.3f;
dynamicBody.CreateFixture(dynamicCircleFixtureDef);
this.physicsBody = dynamicBody;
}
public IPhysicsBody CreateCannonBall(int x, int y, double angle, double velocity, ICollider cannonBall)
{
var vx = Math.Cos((angle) * Math.PI / 180) * velocity;
var vy = Math.Sin((angle) * Math.PI / 180) * velocity;
var offvx = Math.Cos((angle) * Math.PI / 180) * 4d * 16d;
var offvy = Math.Sin((angle) * Math.PI / 180) * 3d * 16d;
var fixDef = new FixtureDef();
fixDef.density = 1;
fixDef.friction = 1;
fixDef.restitution = .6;
var bodyDef = new BodyDef();
bodyDef.type = BodyType.DYNAMIC;
bodyDef.position.x = this.PixelToMeter(x + offvx);
bodyDef.position.y = this.PixelToMeter(y + offvy);
var circleShape = new CircleShape();
circleShape.m_radius = 1.25d / 2d;
fixDef.shape = circleShape;
var body = this.World.createBody(bodyDef);
var fixture = body.createFixture(fixDef);
body.setUserData(cannonBall);
body.applyLinearImpulse(new Vec2(vx, vy), body.getWorldCenter());
return(new PhysicsBody(body));
}
public VaryingRestitution()
{
{
BodyDef bd = new BodyDef();
Body ground = m_world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
{
CircleShape shape = new CircleShape();
shape.Radius = 1.0f;
FixtureDef fd = new FixtureDef();
fd.Shape = shape;
fd.Density = 1.0f;
float[] restitution = { 0.0f, 0.1f, 0.3f, 0.5f, 0.75f, 0.9f, 1.0f };
for (int i = 0; i < 7; ++i)
{
BodyDef bd = new BodyDef();
bd.BodyType = BodyType.Dynamic;
bd.Position = new Vec2(-10.0f + 3.0f * i, 20.0f);
Body body = m_world.CreateBody(bd);
fd.Restitution = restitution[i];
fd.UserData = i;
body.CreateFixture(fd);
}
}
}
protected override void OnKeyDown(KeyEventArgs e)
{
if (e.KeyCode == Keys.OemComma)
{
if (_bullet != null)
{
_world.DestroyBody(_bullet);
_bullet = null;
}
{
CircleShape shape = new CircleShape();
shape._radius = 0.25f;
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 20.0f;
fd.restitution = 0.05f;
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.bullet = true;
bd.position = new Vector2(-31.0f, 5.0f);
_bullet = _world.CreateBody(bd);
_bullet.CreateFixture(fd);
_bullet.SetLinearVelocity(new Vector2(400.0f, 0.0f));
}
}
}
protected Body CreateBox(float x, float y, float w, float h)
{
x /= WorldScale;
y /= WorldScale;
w /= WorldScale;
h /= WorldScale;
BodyDef bodyDef = new BodyDef();
bodyDef.position = new Vector2(x + w / 2f, y + h / 2f);
bodyDef.type = BodyType.Static;
Body body = world.CreateBody(bodyDef);
PolygonShape polyShape = new PolygonShape();
polyShape.SetAsBox(w / 2f, h / 2f);
//polyShape._vertexCount = 4;
//polyShape._vertices[0] = new Vector2(0, 0);
//polyShape._vertices[1] = new Vector2(w, 0);
//polyShape._vertices[2] = new Vector2(w, h);
//polyShape._vertices[3] = new Vector2(0, h);
FixtureDef fd = new FixtureDef();
fd.density = 1;
fd.shape = polyShape;
fd.filter.groupIndex = 1;
fd.filter.categoryBits = 1;
fd.filter.maskBits = 0xFFFF;
Fixture f = body.CreateFixture(fd);
return(body);
}
public void DrawShape(FixtureDef fixture, Transform xf, ColorF color)
{
switch (fixture.Shape.ShapeType)
{
case ShapeType.Circle:
{
CircleShape circle = (CircleShape)fixture.Shape;
Vec2 center = (xf * circle.Position);
float radius = circle.Radius;
Vec2 axis = xf.R.Col1;
DrawSolidCircle(center, radius, axis, color);
}
break;
case ShapeType.Polygon:
{
PolygonShape poly = (PolygonShape)fixture.Shape;
int vertexCount = poly.VertexCount;
//b2Assert(vertexCount <= b2_maxPolygonVertices);
for (int i = 0; i < vertexCount; ++i)
{
drawVertices[i] = (xf * poly.Vertices[i]);
}
DrawSolidPolygon(drawVertices, vertexCount, color);
}
break;
}
}
// потом заменить на загрузку из storage
public Chip(GameWorld gameWorld,
Vector2 Pos, float radius, float density, float friction, float restitution,
Texture2D texture, SoundEffect hitSound)
: this(gameWorld.ScreenManager.Game)
{
this.gameWorld = gameWorld;
this.spriteBatch = gameWorld.ScreenManager.SpriteBatch;
this.world = gameWorld.physWorld;
this.texture = texture;
this.hitSound = hitSound;
BodyDef BodyDef;
FixtureDef FixtureDef;
Body B;
BodyDef = new BodyDef();
FixtureDef = new FixtureDef();
BodyDef.type = BodyType.Dynamic;
BodyDef.position = Pos;
B = world.CreateBody(BodyDef);
CircleShape dynamicCircle = new CircleShape();
dynamicCircle._radius = radius;
FixtureDef.shape = dynamicCircle;
FixtureDef.density = density;
FixtureDef.friction = friction;
FixtureDef.restitution = restitution;
fixture = B.CreateFixture(FixtureDef);
textureCenter.X = (float)texture.Width / 2.0f;
textureCenter.Y = (float)texture.Height / 2.0f;
}
/// <inheritdoc />
/// <inheritdoc />
public override void OnKeyDown(KeyInputEventArgs keyInput)
{
if (keyInput.Key == KeyCodes.F)
{
if (_bullet != null)
{
World.DestroyBody(_bullet);
_bullet = null;
}
{
var shape = new CircleShape {
Radius = 0.25f
};
var fd = new FixtureDef
{
Shape = shape, Density = 20.0f,
Restitution = 0.05f
};
var bd = new BodyDef
{
BodyType = BodyType.DynamicBody, Bullet = true,
Position = new Vector2(-31.0f, 5.0f)
};
_bullet = World.CreateBody(bd);
_bullet.CreateFixture(fd);
_bullet.SetLinearVelocity(new Vector2(400.0f, 0.0f));
}
}
}
public VaryingRestitution()
{
{
BodyDef bd = new BodyDef();
Body ground = m_world.CreateBody(bd);
EdgeShape shape = new EdgeShape();
shape.Set(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
shape.Density = 0;
ground.CreateFixture(shape);
}
{
CircleShape shape = new CircleShape();
shape.m_radius = 1.0f;
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.Density = 1.0f;
float[] restitution = { 0.0f, 0.1f, 0.3f, 0.5f, 0.75f, 0.9f, 1.0f };
for (int i = 0; i < 7; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(-10.0f + 3.0f * i, 20.0f);
Body body = m_world.CreateBody(bd);
fd.restitution = restitution[i];
body.CreateFixture(fd);
}
}
}
public void ApplyAttribtues(FixtureDef def)
{
if (friction != 0.2f)
{
def.friction = friction;
}
if (restitution != 0)
{
def.restitution = restitution;
}
if (density != 0)
{
def.density = density;
}
if (categoryBits != 0x0001)
{
def.filter.categoryBits = categoryBits;
}
if (maskBits != 0xFFFF)
{
def.filter.maskBits = maskBits;
}
if (groupIndex != 0)
{
def.filter.groupIndex = groupIndex;
}
if (isSensor != false)
{
def.isSensor = isSensor;
}
}
public MovingJoint()
{
var capeFixture = new FixtureDef(new PolygonShape(0.08f, 0.4f, (float)(Math.PI)), 0.2f);
var capeBody = new BodyDef(BodyType.Dynamic, new Vec2(0, 10));
Body testbody = m_world.CreateBody(capeBody);
testbody.CreateFixture(capeFixture);
staticBody = m_world.CreateBody(new BodyDef(BodyType.Static, testbody.WorldCenter + new Vec2(-0.08f / 25, 0.4f)));
staticBody.CreateFixture(new CircleShape(0.15f), 0);
{
RevoluteJointDef rjd = new RevoluteJointDef();
rjd.Initialize(testbody, staticBody, testbody.WorldCenter + new Vec2(0.0f, 0.4f));
joint = (RevoluteJoint)m_world.CreateJoint(rjd);
}
// build cape
Body lastBody = testbody;
for (int i = 0; i < 8; ++i)
{
capeBody.Position = new Vec2(capeBody.Position.X, capeBody.Position.Y - 0.8f);
var nextBody = m_world.CreateBody(capeBody);
nextBody.CreateFixture(capeFixture);
var joint = new RevoluteJointDef();
joint.Initialize(lastBody, nextBody, nextBody.WorldCenter + new Vec2(0.0f, 0.4f));
m_world.CreateJoint(joint);
lastBody = nextBody;
}
}
VaryingRestitution()
{
{
BodyDef bd = new BodyDef();
Body ground = _world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
{
CircleShape shape = new CircleShape();
shape._radius = 1.0f;
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 1.0f;
float[] restitution = new float[7] {0.0f, 0.1f, 0.3f, 0.5f, 0.75f, 0.9f, 1.0f};
for (int i = 0; i < 7; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(-10.0f + 3.0f * i, 20.0f);
Body body = _world.CreateBody(bd);
fd.restitution = restitution[i];
body.CreateFixture(fd);
}
}
}
public LightSource(ComatoseGame gm)
: base(gm)
{
//body.SetActive(false);
buffer = new VertexBuffer(game.GraphicsDevice, typeof(VertexPositionColor), _max_rays * 3, BufferUsage.None);
light_shader = new BasicEffect(game.GraphicsDevice);
light_shader.Projection = Matrix.CreateOrthographicOffCenter(0, 128, 72, 0, 1, -1);
light_shader.VertexColorEnabled = true;
//add a dummy physics object to the light, to allow it to do things
body.SetType(BodyType.Dynamic);
FixtureDef fdef = new FixtureDef();
fdef.density = 0.1f;
fdef.friction = 0.0f;
CircleShape circle = new CircleShape();
circle._p = new Vector2(0);
circle._radius = (float)0.1f;
fdef.shape = circle;
fixture = body.CreateFixture(fdef);
body.ResetMassData();
layer = "light";
}
protected override void Create()
{
{
var bd = new BodyDef();
var ground = World.CreateBody(bd);
var shape = new EdgeShape();
shape.Set(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
{
var shape = new CircleShape();
shape.Radius = 1.0f;
var fd = new FixtureDef();
fd.Shape = shape;
fd.Density = 1.0f;
float[] restitution = { 0.0f, 0.1f, 0.3f, 0.5f, 0.75f, 0.9f, 1.0f };
for (var i = 0; i < 7; ++i)
{
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position.Set(-10.0f + 3.0f * i, 20.0f);
var body = World.CreateBody(bd);
fd.Restitution = restitution[i];
body.CreateFixture(fd);
}
}
}
internal Fixture(FixtureDef def)
{
_userData = def.UserData;
_friction = def.Friction;
_restitution = def.Restitution;
_restitutionThreshold = def.RestitutionThreshold;
_collisionGroup = def.Filter.Group;
_collisionCategories = def.Filter.Category;
_collidesWith = def.Filter.CategoryMask;
//Velcro: we have support for ignoring CCD with certain groups
_ignoreCcdWith = Settings.DefaultFixtureIgnoreCCDWith;
_isSensor = def.IsSensor;
_shape = def.Shape.Clone();
// Reserve proxy space
int childCount = Shape.ChildCount;
_proxies = new FixtureProxy[childCount];
for (int i = 0; i < childCount; ++i)
{
_proxies[i].Fixture = null;
_proxies[i].ProxyId = DynamicTreeBroadPhase.NullProxy;
}
_proxyCount = 0;
//TODO:
//m_density = def->density;
}
public MovingJoint()
{
var capeFixture = new FixtureDef(new PolygonShape(0.08f, 0.4f, (float)(Math.PI)), 0.2f);
var capeBody = new BodyDef(BodyType.Dynamic, new Vec2(0, 10));
Body testbody = m_world.CreateBody(capeBody);
testbody.CreateFixture(capeFixture);
staticBody = m_world.CreateBody(new BodyDef(BodyType.Static, testbody.WorldCenter + new Vec2(-0.08f / 25, 0.4f)));
staticBody.CreateFixture(new CircleShape(0.15f), 0);
{
RevoluteJointDef rjd = new RevoluteJointDef();
rjd.Initialize(testbody, staticBody, testbody.WorldCenter + new Vec2(0.0f, 0.4f));
joint = (RevoluteJoint)m_world.CreateJoint(rjd);
}
// build cape
Body lastBody = testbody;
for (int i = 0; i < 8; ++i)
{
capeBody.Position = new Vec2(capeBody.Position.X, capeBody.Position.Y - 0.8f);
var nextBody = m_world.CreateBody(capeBody);
nextBody.CreateFixture(capeFixture);
var joint = new RevoluteJointDef();
joint.Initialize(lastBody, nextBody, nextBody.WorldCenter + new Vec2(0.0f, 0.4f));
m_world.CreateJoint(joint);
lastBody = nextBody;
}
}
public Body CreateBall(World world, float ScaleFactor)
{
var bodyDef = new BodyDef();
bodyDef.type = BodyType.Dynamic;
var ballShape = new CircleShape();
ballShape._radius = (texture.Width / 2f) * ScaleFactor;
var ballFixture = new FixtureDef();
ballFixture.friction = 0.0f; // no friction
ballFixture.restitution = 1.0f; // give the ball a perfect bounce
ballFixture.density = 1.0f;
ballFixture.shape = ballShape;
var ballBody = world.CreateBody(bodyDef);
ballBody.CreateFixture(ballFixture);
// ballBody.Position = new Vector2(((float)r.NextDouble() * 4.5f + .3f), (float)r.NextDouble() * 4.5f + .3f);
//ballBodies.Add(ballBody);
return(ballBody);
}
/// <summary>
/// Initializes a new instance of the <see cref="Fixture" /> class
/// </summary>
/// <param name="def">The def</param>
internal Fixture(FixtureDef def)
{
userData = def.UserData;
Frictionprivate = def.Friction;
Restitutionprivate = def.Restitution;
RestitutionThresholdPrivate = def.RestitutionThreshold;
CollisionGroupPrivate = def.Filter.Group;
CollisionCategoriesprivate = def.Filter.Category;
CollidesWithprivate = def.Filter.CategoryMask;
//Velcro: we have support for ignoring CCD with certain groups
ignoreCcdWith = Settings.DefaultFixtureIgnoreCcdWith;
IsSensorPrivate = def.IsSensor;
ShapePrivate = def.Shape.Clone();
// Reserve proxy space
int childCount = Shape.ChildCount;
proxies = new FixtureProxy[childCount];
for (int i = 0; i < childCount; ++i)
{
proxies[i].Fixture = null;
proxies[i].ProxyId = DynamicTreeBroadPhase.NullProxy;
}
proxyCount = 0;
//TODO:
//m_density = def->density;
}
public override void Keyboard(KeyboardState state, KeyboardState oldState)
{
if (state.IsKeyDown(Keys.OemComma) && oldState.IsKeyUp(Keys.OemComma))
{
if (_bullet != null)
{
_world.DestroyBody(_bullet);
_bullet = null;
}
{
CircleShape shape = new CircleShape();
shape._radius = 0.25f;
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 20.0f;
fd.restitution = 0.05f;
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.bullet = true;
bd.position = new Vector2(-31.0f, 5.0f);
_bullet = _world.CreateBody(bd);
_bullet.CreateFixture(fd);
_bullet.SetLinearVelocity(new Vector2(400.0f, 0.0f));
}
}
}
protected void AddPoly(Body body2Body, V2DShape polygon)
{
Shape shape;
if (polygon.IsCircle)
{
CircleShape circDef = new CircleShape();
circDef._radius = polygon.Radius / (V2DScreen.WorldScale * State.Scale.X);
Vector2 lp = new Vector2(polygon.CenterX / V2DScreen.WorldScale, polygon.CenterY / V2DScreen.WorldScale);
circDef._p = lp;
shape = circDef;
}
else
{
float[] pts = polygon.Data;
PolygonShape polyDef = new PolygonShape();
shape = polyDef;
int len = (int)(pts.Length / 2);
Vector2[] v2s = new Vector2[len];
for (int i = 0; i < len; i++)
{
float px = pts[i * 2];
float py = pts[i * 2 + 1];
v2s[i] = new Vector2(
px / V2DScreen.WorldScale * State.Scale.X,
py / V2DScreen.WorldScale * State.Scale.Y);
}
polyDef.Set(v2s, len);
}
FixtureDef fd = new FixtureDef();
fd.shape = shape;
if (instanceName.IndexOf("s_") == 0)
{
isStatic = true;
fd.density = 0.0f;
}
else
{
fd.density = density;
}
fd.friction = friction;
fd.restitution = restitution;
if (groupIndex != 0)
{
fd.filter.groupIndex = groupIndex;
}
if (attributeProperties != null)
{
attributeProperties.ApplyAttribtues(fd);
}
body.CreateFixture(fd);
}
void addPolygon(Vector2 pos, int radius, int count)
{
int circleSteps = count;
Vector2[] circleList = new Vector2[circleSteps];
var circleRadius = radius;
for (int i = 0; i < circleSteps; i++)
{
circleList[i] = new Vector2((float)(circleRadius * Math.Cos(2 * Math.PI / circleSteps * i)), (float)(circleRadius * Math.Sin(2 * Math.PI / circleSteps * i)));
}
var circleBody = new BodyDef();
circleBody.type = BodyType.Dynamic;
circleBody.position = pos;
var circleShape = new PolygonShape();
circleShape.Set(circleList, circleSteps);
var circleFixture = new FixtureDef();
circleFixture.shape = circleShape;
circleFixture.density = 1;
Body worldCircle = physicsWorld.CreateBody(circleBody);
worldCircle.CreateFixture(circleFixture);
}
private void createSlice(Vector2[] vertices, int numVertices)
{
Vector2 centre = findCentroid(vertices, vertices.Length);
for (int i = 0; i < numVertices; i++)
{
vertices[i] -= centre;
}
var sliceBody = new BodyDef();
sliceBody.position = centre;
sliceBody.type = BodyType.Dynamic;
var slicePoly = new PolygonShape();
if (2 <= numVertices && numVertices <= Settings.b2_maxPolygonVertices)
{
slicePoly.Set(vertices, numVertices);
}
var sliceFixture = new FixtureDef();
sliceFixture.shape = slicePoly;
sliceFixture.density = 1;
Body worldSlice = physicsWorld.CreateBody(sliceBody);
worldSlice.CreateFixture(sliceFixture);
for (int i = 0; i < numVertices; i++)
{
vertices[i] += centre;
}
}
private void LoadShip()
{
Vector2 position = new Vector2(Width * TileWidth / 2, Height * TileHeight - 600 + FrontClearance);
Texture2D texture = GameContent.ship;
BodyDef bd = new BodyDef();
bd.fixedRotation = true;
bd.type = BodyType.Dynamic;
bd.linearDamping = 0.5f;
bd.angularDamping = 0.1f;
bd.position = position;
ship = world.CreateBody(bd);
ship.SetUserData(texture);
PolygonShape pShape = new PolygonShape();
Vector2[] vertices = new Vector2[3];
vertices[0] = new Vector2(0, -texture.Height / 2);
vertices[1] = new Vector2(texture.Width / 2, texture.Height / 2);
vertices[2] = new Vector2(-texture.Width / 2, texture.Height / 2);
pShape.Set(vertices, 3);
FixtureDef fd = new FixtureDef();
fd.density = 0.1f;
fd.shape = pShape;
fd.friction = 5;
fd.restitution = .5f;
ship.CreateFixture(fd);
originalShipPos = ship.Position;
}
public PhysicsBox(Texture2D sprite_texture, World physicsWorld, float box_width, float box_height,
float positionX, float positionY, float rot, float density) : base(sprite_texture)
{
this.scaleToFitTheseDimensions(box_width, box_height);
this.position.X = positionX;
this.position.Y = positionY;
BodyDef dynamicBodyDef = new BodyDef();
dynamicBodyDef.type = BodyType.Dynamic;
dynamicBodyDef.position = new Vector2(positionX / DynamicPhysicsGameObject.ScreenPixelsPerMeter, positionY / DynamicPhysicsGameObject.ScreenPixelsPerMeter);
dynamicBodyDef.angle = rot;
Body dynamicBody = physicsWorld.CreateBody(dynamicBodyDef);
PolygonShape dynamicBoxShape = new PolygonShape();
dynamicBoxShape.SetAsBox((box_width / ScreenPixelsPerMeter) / 2.0f, (box_height / ScreenPixelsPerMeter) / 2.0f); //experiment with / 2.0f
FixtureDef dynamicBoxFixtureDef = new FixtureDef();
dynamicBoxFixtureDef.shape = dynamicBoxShape;
dynamicBoxFixtureDef.density = density;
dynamicBoxFixtureDef.friction = 0.3f;
dynamicBody.CreateFixture(dynamicBoxFixtureDef);
this.physicsBody = dynamicBody;
}
/// <inheritdoc />
protected override void PreUpdate()
{
if (Input.GetKeyDown(KeyCode.F))
{
if (_bullet != null)
{
World.DestroyBody(_bullet);
_bullet = null;
}
{
var shape = new CircleShape {
Radius = 0.25f
};
var fd = new FixtureDef
{
Shape = shape, Density = 20.0f,
Restitution = 0.05f
};
var bd = new BodyDef
{
BodyType = BodyType.DynamicBody, Bullet = true,
Position = new Vector2(-31.0f, 5.0f)
};
_bullet = World.CreateBody(bd);
_bullet.CreateFixture(fd);
_bullet.SetLinearVelocity(new Vector2(400.0f, 0.0f));
}
}
}
public override void Keyboard(KeyboardManager keyboard)
{
if (keyboard.IsNewKeyPress(Keys.OemComma))
{
if (_bullet != null)
{
World.RemoveBody(_bullet);
_bullet = null;
}
{
CircleShape shape = new CircleShape(0.25f, 20);
FixtureDef fd = new FixtureDef();
fd.Shape = shape;
fd.Restitution = 0.05f;
BodyDef bd = new BodyDef();
bd.Type = BodyType.Dynamic;
bd.IsBullet = true;
bd.Position = new Vector2(-31.0f, 5.0f);
_bullet = BodyFactory.CreateFromDef(World, bd);
_bullet.AddFixture(fd);
_bullet.LinearVelocity = new Vector2(400.0f, 0.0f);
}
}
base.Keyboard(keyboard);
}
public VaryingRestitution()
{
{
BodyDef bd = new BodyDef();
Body ground = m_world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
{
CircleShape shape = new CircleShape();
shape.Radius = 1.0f;
FixtureDef fd = new FixtureDef();
fd.Shape = shape;
fd.Density = 1.0f;
float[] restitution = {0.0f, 0.1f, 0.3f, 0.5f, 0.75f, 0.9f, 1.0f};
for (int i = 0; i < 7; ++i)
{
BodyDef bd = new BodyDef();
bd.BodyType = BodyType.Dynamic;
bd.Position = new Vec2(-10.0f + 3.0f * i, 20.0f);
Body body = m_world.CreateBody(bd);
fd.Restitution = restitution[i];
fd.UserData = i;
body.CreateFixture(fd);
}
}
}
/// <summary>
/// 创建一个梯形物体
/// </summary>
/// <param name="x">坐标 X</param>
/// <param name="y">坐标 Y</param>
/// <param name="top">上底</param>
/// <param name="bottom">下底</param>
/// <param name="height">高</param>
/// <param name="bodyType">物体类型，默认是DynamicBody</param>
/// <returns></returns>
public Body CreateTrapezoidBody(float x, float y, float top, float bottom, float height, BodyType bodyType = BodyType.DynamicBody, bool isSensor = false)
{
var bodyDef = CreateBodyDef(x, y, bodyType);
var body = world.CreateBody(bodyDef);
var bodyShape = new PolygonShape();
var vertices = new Vector2[4];
vertices[0].Set(-top / 2, height / 2);
vertices[1].Set(top / 2, height / 2);
vertices[2].Set(bottom / 2, -height / 2);
vertices[3].Set(-bottom / 2, -height / 2);
bodyShape.Set(vertices);
var fixtureDef = new FixtureDef
{
Shape = bodyShape,
Density = 1.0f,
Friction = 0.3f,
IsSensor = isSensor
};
body.CreateFixture(fixtureDef);
return(body);
}
VerticalStack()
{
{
BodyDef bd = new BodyDef();
Body ground = _world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
shape.SetAsEdge(new Vector2(20.0f, 0.0f), new Vector2(20.0f, 20.0f));
ground.CreateFixture(shape, 0.0f);
}
float[] xs = new float[5]
{0.0f, -10.0f, -5.0f, 5.0f, 10.0f};
for (int j = 0; j < (int)StackOptions.e_columnCount; ++j)
{
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 < (int)StackOptions.e_rowCount; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
int n = j * e_rowCount + i;
Debug.Assert(n < e_rowCount * e_columnCount);
_indices[n] = n;
bd.userData = _indices[n];
float x = 0.0f;
//float x = Rand.RandomFloat-0.02f, 0.02f);
//float x = i % 2 == 0 ? -0.025f : 0.025f;
bd.position = new Vector2(xs[j] + x, 0.752f + 1.54f * i);
Body body = _world.CreateBody(bd);
_bodies[n] = body;
body.CreateFixture(fd);
}
}
_bullet = null;
}
public SensorTest()
{
{
BodyDef bd = new BodyDef();
Body ground = _world.CreateBody(bd);
{
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
#if false
{
FixtureDef sd;
sd.SetAsBox(10.0f, 2.0f, new Vector2(0.0f, 20.0f), 0.0f);
sd.isSensor = true;
_sensor = ground.CreateFixture(&sd);
}
#else
{
CircleShape shape = new CircleShape();
shape._radius = 5.0f;
shape._p = new Vector2(0.0f, 10.0f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.isSensor = true;
_sensor = ground.CreateFixture(fd);
}
#endif
}
{
CircleShape shape = new CircleShape();
shape._radius = 1.0f;
for (int i = 0; i < e_count; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(-10.0f + 3.0f * i, 20.0f);
bd.userData = i;
_touching[i] = false;
_bodies[i] = _world.CreateBody(bd);
_bodies[i].CreateFixture(shape, 1.0f);
}
}
}
public Confined()
{
{
BodyDef bd = new BodyDef();
Body ground = _world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
// Floor
shape.SetAsEdge(new Vector2(-10.0f, 0.0f), new Vector2(10.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
// Left wall
shape.SetAsEdge(new Vector2(-10.0f, 0.0f), new Vector2(-10.0f, 20.0f));
ground.CreateFixture(shape, 0.0f);
// Right wall
shape.SetAsEdge(new Vector2(10.0f, 0.0f), new Vector2(10.0f, 20.0f));
ground.CreateFixture(shape, 0.0f);
// Roof
shape.SetAsEdge(new Vector2(-10.0f, 20.0f), new Vector2(10.0f, 20.0f));
ground.CreateFixture(shape, 0.0f);
}
float radius = 0.5f;
CircleShape shape2 = new CircleShape();
shape2._p = Vector2.Zero;
shape2._radius = radius;
FixtureDef fd = new FixtureDef();
fd.shape = shape2;
fd.density = 1.0f;
fd.friction = 0.1f;
for (int j = 0; j < e_columnCount; ++j)
{
for (int i = 0; i < e_rowCount; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(-10.0f + (2.1f * j + 1.0f + 0.01f * i) * radius, (2.0f * i + 1.0f) * radius);
Body body = _world.CreateBody(bd);
body.CreateFixture(fd);
}
}
_world.Gravity = new Vector2(0.0f, 0.0f);
}
/// Main...
public ElasticBody()
{
Program.MainForm.ViewZoom = 0.25f;
/// Bottom static body
{
PolygonShape sd = new PolygonShape();
sd.SetAsBox(50.0f, 2.0f);
BodyDef bd = new BodyDef();
bd.Position = new Vec2(-1.0f, -7.5f);
m_ground = m_world.CreateBody(bd);
m_ground.CreateFixture(new FixtureDef(sd, 0.0f, 0.1f, 0.1f));
}
/// "Elastic body" 64 bodies - something like a lin. elastic compound
/// connected via dynamic forces (springs)
{
PolygonShape sd = new PolygonShape();
sd.SetAsBox(width, height);
FixtureDef sdf = new FixtureDef();
sdf.Density = 1.5f;
sdf.Friction = 0.01f;
sdf.Filter.GroupIndex = -1;
sdf.Shape = sd;
Vec2 startpoint = new Vec2(0, 0);
BodyDef bd = new BodyDef();
bd.BodyType = BodyType.Dynamic;
bd.Bullet = false;
//bd.AllowSleep = false;
for (int i = 0; i < BodyCountY; ++i)
{
for (int j = 0; j < BodyCountX; ++j)
{
bd.Position = new Vec2(j*(width*2), 2.51f + (height*2) * i);
bd.Position += startpoint;
Body body = m_world.CreateBody(bd);
bodies[BodyCountX*i+j] = body;
body.CreateFixture(sdf);
}
}
}
}
public SensorTest()
{
{
BodyDef bd = new BodyDef();
Body ground = m_world.CreateBody(bd);
{
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
{
CircleShape shape = new CircleShape();
shape.Radius = 5.0f;
shape.Position = new Vec2(0.0f, 10.0f);
FixtureDef fd = new FixtureDef();
fd.Shape = shape;
fd.IsSensor = true;
m_sensor = ground.CreateFixture(fd);
}
}
{
CircleShape shape = new CircleShape();
for (int i = 0; i < e_count; ++i)
{
shape.Radius = Rand.RandomFloat(0.85f, 1.0f);
BodyDef bd = new BodyDef();
bd.BodyType = BodyType.Dynamic;
bd.Position = new Vec2(-10.0f + 3.0f * i, 20.0f);
bd.UserData = i;
m_touching[i] = false;
m_bodies[i] = m_world.CreateBody(bd);
m_bodies[i].CreateFixture(shape, 1.0f);
}
}
}
/// <summary>
/// Call this to initialize a Behaviour with data supplied in a file.
/// </summary>
/// <param name="fileName">The file to load from.</param>
public override void LoadContent(String fileName)
{
base.LoadContent(fileName);
Int32[] input = { 1, 7, 2, 2, 3, /**/ 15, 16, 14, 16, 17 };
mMapData = new List<Int32>(input);
TileMapRenderDefinition def = GameObjectManager.pInstance.pContentManager.Load<TileMapRenderDefinition>(fileName);
mTexture = GameObjectManager.pInstance.pContentManager.Load<Texture2D>(def.mSpriteFileName);
mSourceWidth = 16;
mSourceHeight = 16;
mMapCountWidth = mTexture.Width / mSourceWidth;
mMapCountHeight = mTexture.Height / mSourceHeight;
var shape = new PolygonShape();
shape.SetAsBox(PhysicsManager.pInstance.ScreenToPhysicalWorld(mSourceWidth / 2 * 5),
PhysicsManager.pInstance.ScreenToPhysicalWorld(mSourceHeight / 2 * 2));
var fd = new FixtureDef();
fd.shape = shape;
fd.restitution = 0.0f;
fd.friction = 0.5f;
fd.density = 0.0f;
BodyDef bd = new BodyDef();
mGround = PhysicsManager.pInstance.pWorld.CreateBody(bd);
mGround.CreateFixture(fd);
shape.SetAsBox(PhysicsManager.pInstance.ScreenToPhysicalWorld(mSourceWidth / 2 * 5),
PhysicsManager.pInstance.ScreenToPhysicalWorld(mSourceHeight / 2 * 2),
PhysicsManager.pInstance.ScreenToPhysicalWorld(new Vector2(mSourceWidth * -5, 0.0f)),
0.0f);
fd = new FixtureDef();
fd.shape = shape;
fd.restitution = 0.0f;
fd.friction = 0.5f;
fd.density = 0.0f;
mGround.CreateFixture(fd);
}
public Chain()
{
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = _world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
{
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.Dynamic;
bd.position = new Vector2(0.5f + i, y);
Body body = _world.CreateBody(bd);
body.CreateFixture(fd);
Vector2 anchor = new Vector2((float)i, y);
jd.Initialize(prevBody, body, anchor);
_world.CreateJoint(jd);
prevBody = body;
}
}
}
public Body[] GenerateBodies(World world, Vec2 basePosition, FixtureDef def)
{
if (_vecs.Count <= 1)
throw new ArgumentOutOfRangeException("Vecs");
Body[] bodies = new Body[_vecs.Count - 1];
for (int i = 0; i < _vecs.Count - 1; ++i)
{
PolygonShape edge = new PolygonShape(_vecs[i], _vecs[i + 1]);
BodyDef bd = new BodyDef();
bd.Position = basePosition;
bodies[i] = world.CreateBody(bd);
bodies[i].CreateFixture(new FixtureDef(edge, 0, def.Restitution, def.Friction, false, def.UserData));
}
return bodies;
}
void CreateCircle()
{
float radius = 2.0f;
CircleShape shape = new CircleShape();
shape.Position = Vec2.Empty;
shape.Radius = radius;
FixtureDef fd = new FixtureDef();
fd.Shape = shape;
fd.Density = 1.0f;
fd.Friction = 0.0f;
Vec2 p = new Vec2(Rand.RandomFloat(), 3.0f + Rand.RandomFloat());
BodyDef bd = new BodyDef();
bd.BodyType = BodyType.Dynamic;
bd.Position = p;
//bd.allowSleep = false;
Body body = m_world.CreateBody(bd);
body.CreateFixture(fd);
}
public TitleState(StateStack stack, Context context)
: base(stack, context)
{
starttimer = new Clock();
starttimer.Restart();
titletext = new Text();
titletext.Scale = new Vector2f(2, 2);
titletext.DisplayedString = "PIXELTASIM";
titletext.Font = mContext.mFonts.get(FontID.Title);
titletext.centerOrigin();
titletext.Position = new Vector2f(mContext.mWindow.Size.X/2, mContext.mWindow.Size.Y / 8);
titletext.Color = Color.Black;
square = new RectangleShape(new Vector2f(UnitConverter.toPixScale(0.5f), UnitConverter.toPixScale(0.5f)));
square.centerOrigin();
square.FillColor = Color.Red;
square.OutlineColor = Color.Black;
square.OutlineThickness = 1;
b2World = new World(new Vec2(0, 10), false);
BodyDef b2Def = new BodyDef();
b2Def.BodyType = BodyType.Dynamic;
b2Def.Position = new Vec2(UnitConverter.toSimScale(mContext.mWindow.Size.X / 2), UnitConverter.toSimScale(mContext.mWindow.Size.Y / 8*3));
b2Body = b2World.CreateBody(b2Def);
PolygonShape dynamicbox = new PolygonShape();
dynamicbox.SetAsBox(UnitConverter.toSimScale(32), UnitConverter.toSimScale(32));
FixtureDef fixDef = new FixtureDef();
fixDef.Shape = dynamicbox;
fixDef.Density = 1;
fixDef.Friction = 0.3f;
b2Body.CreateFixture(fixDef);
square.Position = new Vector2f(UnitConverter.toPixScale(b2Body.Position.X), UnitConverter.toPixScale(b2Body.Position.Y));
}
void Create(int index)
{
if (m_bodies[m_bodyIndex] != null)
{
m_world.DestroyBody(m_bodies[m_bodyIndex]);
m_bodies[m_bodyIndex] = null;
}
BodyDef bd = new BodyDef();
float x = Rand.RandomFloat(-10.0f, 10.0f);
float y = Rand.RandomFloat(0.0f, 20.0f);
bd.Position = new Vec2(x, y);
bd.Angle = Rand.RandomFloat((float)-Math.PI, (float)Math.PI);
bd.UserData = index;
if (index == 4)
bd.AngularDamping = 0.02f;
m_bodies[m_bodyIndex] = m_world.CreateBody(bd);
if (index < 4)
{
FixtureDef fd = new FixtureDef();
fd.Shape = m_polygons[index];
fd.Friction = 0.3f;
m_bodies[m_bodyIndex].CreateFixture(fd);
}
else
{
FixtureDef fd = new FixtureDef();
fd.Shape = m_circle;
fd.Friction = 0.3f;
m_bodies[m_bodyIndex].CreateFixture(fd);
}
m_bodyIndex = (m_bodyIndex + 1) % e_maxBodies;
}
public void LaunchBomb(Vector2 position, Vector2 velocity)
{
if (_bomb != null)
{
_world.DestroyBody(_bomb);
_bomb = null;
}
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = position;
bd.bullet = true;
_bomb = _world.CreateBody(bd);
_bomb.SetLinearVelocity(velocity);
CircleShape circle = new CircleShape();
circle._radius = 0.3f;
FixtureDef fd = new FixtureDef();
fd.shape = circle;
fd.density = 20.0f;
fd.restitution = 0.0f;
Vector2 minV = position - new Vector2(0.3f,0.3f);
Vector2 maxV = position + new Vector2(0.3f,0.3f);
AABB aabb;
aabb.lowerBound = minV;
aabb.upperBound = maxV;
_bomb.CreateFixture(fd);
}
public VaryingFriction()
{
{
BodyDef bd = new BodyDef();
Body ground = m_world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(13.0f, 0.25f);
BodyDef bd = new BodyDef();
bd.Position = new Vec2(-4.0f, 22.0f);
bd.Angle = -0.25f;
Body ground = m_world.CreateBody(bd);
ground.CreateFixture(shape, 0.0f);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.25f, 1.0f);
BodyDef bd = new BodyDef();
bd.Position = new Vec2(10.5f, 19.0f);
Body ground = m_world.CreateBody(bd);
ground.CreateFixture(shape, 0.0f);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(13.0f, 0.25f);
BodyDef bd = new BodyDef();
bd.Position = new Vec2(4.0f, 14.0f);
bd.Angle = 0.25f;
Body ground = m_world.CreateBody(bd);
ground.CreateFixture(shape, 0.0f);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.25f, 1.0f);
BodyDef bd = new BodyDef();
bd.Position = new Vec2(-10.5f, 11.0f);
Body ground = m_world.CreateBody(bd);
ground.CreateFixture(shape, 0.0f);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(13.0f, 0.25f);
BodyDef bd = new BodyDef();
bd.Position = new Vec2(-4.0f, 6.0f);
bd.Angle = -0.25f;
Body ground = m_world.CreateBody(bd);
ground.CreateFixture(shape, 0.0f);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.5f, 0.5f);
FixtureDef fd = new FixtureDef();
fd.Shape = shape;
fd.Density = 25.0f;
float[] friction = {0.75f, 0.5f, 0.35f, 0.1f, 0.0f};
for (int i = 0; i < 5; ++i)
{
BodyDef bd = new BodyDef();
bd.BodyType = BodyType.Dynamic;
bd.Position = new Vec2(-15.0f + 4.0f * i, 28.0f);
Body body = m_world.CreateBody(bd);
fd.Friction = friction[i];
body.CreateFixture(fd);
}
}
}
private void Create(int index)
{
if (_bodies[_bodyIndex] != null)
{
_world.DestroyBody(_bodies[_bodyIndex]);
_bodies[_bodyIndex] = null;
}
BodyDef bd = new BodyDef();
float x = Rand.RandomFloat(-10.0f, 10.0f);
float y = Rand.RandomFloat(0.0f, 20.0f);
bd.position = new Vector2(x, y);
bd.angle = Rand.RandomFloat(-(float)Math.PI, (float)Math.PI);
bd.userData = index;
if (index == 4)
{
bd.angularDamping = 0.02f;
}
_bodies[_bodyIndex] = _world.CreateBody(bd);
if (index < 4)
{
FixtureDef fd = new FixtureDef();
fd.shape = _polygons[index];
fd.friction = 0.3f;
_bodies[_bodyIndex].CreateFixture(fd);
}
else
{
FixtureDef fd = new FixtureDef();
fd.shape = _circle;
fd.friction = 0.3f;
_bodies[_bodyIndex].CreateFixture(fd);
}
_bodyIndex = (_bodyIndex + 1) % e_maxBodies;
}
public Car()
{
{ // car body
PolygonShape poly1 = new PolygonShape(), poly2 = new PolygonShape();
// bottom half
poly1.Vertices = new Vec2[]
{
new Vec2(2.2f,-0.74f),
new Vec2(2.2f,-0.2f),
new Vec2(1.0f,0),
new Vec2(-2.2f,0),
new Vec2(-2.2f,-0.74f)
};
FixtureDef fixture1 = new FixtureDef();
fixture1.Filter.GroupIndex = -1;
fixture1.Shape = poly1;
fixture1.Density = 20.0f;
fixture1.Friction = 0.68f;
// top half
poly2.Vertices = new Vec2[]
{
new Vec2(1.0f,0),
new Vec2(0.5f,0.74f),
new Vec2(-1.3f,0.7f),
new Vec2(-1.7f,0),
};
FixtureDef fixture2 = new FixtureDef();
fixture2.Filter.GroupIndex = -1;
fixture2.Shape = poly2;
fixture2.Density = 5.0f;
fixture2.Friction = 0.68f;
BodyDef bd = new BodyDef();
bd.BodyType = BodyType.Dynamic;
bd.Position = new Vec2(0, 0);
m_vehicle = m_world.CreateBody(bd);
m_vehicle.CreateFixture(fixture1);
m_vehicle.CreateFixture(fixture2);
}
{ // vehicle wheels
CircleShape circ = new CircleShape();
circ.Radius = 0.58608f;
FixtureDef wheelFix = new FixtureDef();
wheelFix.Shape = circ;
wheelFix.Density = 40.0f;
wheelFix.Friction = 0.8f;
wheelFix.Filter.GroupIndex = -1;
BodyDef bd = new BodyDef();
bd.BodyType = BodyType.Dynamic;
bd.AllowSleep = false;
bd.Position = new Vec2(1.2f, -0.8f);
m_rightWheel = m_world.CreateBody(bd);
m_rightWheel.CreateFixture(wheelFix);
bd.Position = new Vec2(-1.2f, -0.8f);
m_leftWheel = m_world.CreateBody(bd);
m_leftWheel.CreateFixture(wheelFix);
}
{ // join wheels to chassis
RevoluteJointDef jd = new RevoluteJointDef();
jd.Initialize(m_vehicle, m_leftWheel, m_leftWheel.WorldCenter);
jd.CollideConnected = false;
jd.EnableMotor = true;
jd.MaxMotorTorque = 10.0f;
jd.MotorSpeed = 0.0f;
m_leftJoint = (RevoluteJoint)m_world.CreateJoint(jd);
jd.Initialize(m_vehicle, m_rightWheel, m_rightWheel.WorldCenter);
jd.CollideConnected = false;
m_rightJoint = (RevoluteJoint)m_world.CreateJoint(jd);
}
}
public ApplyForce()
{
m_world.Gravity = new Vec2(0.0f, 0.0f);
const float k_restitution = 0.4f;
Body ground;
{
BodyDef bd = new BodyDef();
bd.Position = new Vec2(0.0f, 20.0f);
ground = m_world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
FixtureDef sd = new FixtureDef();
sd.Shape = shape;
sd.Density = 0.0f;
sd.Restitution = k_restitution;
// Left vertical
shape.SetAsEdge(new Vec2(-20.0f, -20.0f), new Vec2(-20.0f, 20.0f));
ground.CreateFixture(sd);
// Right vertical
shape.SetAsEdge(new Vec2(20.0f, -20.0f), new Vec2(20.0f, 20.0f));
ground.CreateFixture(sd);
// Top horizontal
shape.SetAsEdge(new Vec2(-20.0f, 20.0f), new Vec2(20.0f, 20.0f));
ground.CreateFixture(sd);
// Bottom horizontal
shape.SetAsEdge(new Vec2(-20.0f, -20.0f), new Vec2(20.0f, -20.0f));
ground.CreateFixture(sd);
}
{
Transform xf1 = new Transform();
xf1.R = new Mat22(0.3524f * (float)Math.PI);
xf1.Position = (xf1.R * new Vec2(1.0f, 0.0f));
Vec2[] vertices = new Vec2[3]
{
(xf1 * new Vec2(-1.0f, 0.0f)),
(xf1 * new Vec2(1.0f, 0.0f)),
(xf1 * new Vec2(0.0f, 0.5f))
};
PolygonShape poly1 = new PolygonShape(vertices);
FixtureDef sd1 = new FixtureDef();
sd1.Shape = poly1;
sd1.Density = 4.0f;
Transform xf2 = new Transform();
xf2.R = new Mat22(-0.3524f * (float)Math.PI);
xf2.Position = (xf2.R * new Vec2(-1.0f, 0.0f));
vertices = new Vec2[]
{
(xf2 * new Vec2(-1.0f, 0.0f)),
(xf2 * new Vec2(1.0f, 0.0f)),
(xf2 * new Vec2(0.0f, 0.5f))
};
PolygonShape poly2 = new PolygonShape(vertices);
FixtureDef sd2 = new FixtureDef();
sd2.Shape = poly2;
sd2.Density = 2.0f;
BodyDef bd = new BodyDef();
bd.BodyType = BodyType.Dynamic;
bd.AngularDamping = 5.0f;
bd.LinearDamping = 0.1f;
bd.Position = new Vec2(0.0f, 2.0f);
bd.Angle = (float)Math.PI;
bd.AllowSleep = false;
m_body = m_world.CreateBody(bd);
m_body.CreateFixture(sd1);
m_body.CreateFixture(sd2);
}
{
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.BodyType = BodyType.Dynamic;
bd.Position = new Vec2(0.0f, 5.0f + 1.54f * i);
Body body = m_world.CreateBody(bd);
body.CreateFixture(fd);
float gravity = 10.0f;
float I = body.Inertia;
float mass = body.Mass;
// For a circle: I = 0.5 * m * r * r ==> r = sqrt(2 * I / m)
float radius = (float)Math.Sqrt(2.0f * I / mass);
FrictionJointDef jd = new FrictionJointDef();
jd.LocalAnchorA = jd.LocalAnchorB = Vec2.Empty;
jd.BodyA = ground;
jd.BodyB = body;
jd.CollideConnected = true;
jd.MaxForce = mass * gravity;
jd.MaxTorque = mass * radius * gravity;
m_world.CreateJoint(jd);
}
}
}
public CollisionProcessing()
{
// Ground body
{
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vector2(-50.0f, 0.0f), new Vector2(50.0f, 0.0f));
FixtureDef sd = new FixtureDef();
sd.shape = shape;
BodyDef bd = new BodyDef();
Body ground = _world.CreateBody(bd);
ground.CreateFixture(sd);
}
float xLo = -5.0f, xHi = 5.0f;
float yLo = 2.0f, yHi = 35.0f;
// Small triangle
Vector2[] vertices = new Vector2[3];
vertices[0] = new Vector2(-1.0f, 0.0f);
vertices[1] = new Vector2(1.0f, 0.0f);
vertices[2] = new Vector2(0.0f, 2.0f);
PolygonShape polygon = new PolygonShape();
polygon.Set(vertices, 3);
FixtureDef triangleShapeDef = new FixtureDef();
triangleShapeDef.shape = polygon;
triangleShapeDef.density = 1.0f;
BodyDef triangleBodyDef = new BodyDef();
triangleBodyDef.type = BodyType.Dynamic;
triangleBodyDef.position = new Vector2(Rand.RandomFloat(xLo, xHi), Rand.RandomFloat(yLo, yHi));
Body body1 = _world.CreateBody(triangleBodyDef);
body1.CreateFixture(triangleShapeDef);
// Large triangle (recycle definitions)
vertices[0] *= 2.0f;
vertices[1] *= 2.0f;
vertices[2] *= 2.0f;
polygon.Set(vertices, 3);
triangleBodyDef.position = new Vector2(Rand.RandomFloat(xLo, xHi), Rand.RandomFloat(yLo, yHi));
Body body2 = _world.CreateBody(triangleBodyDef);
body2.CreateFixture(triangleShapeDef);
// Small box
polygon.SetAsBox(1.0f, 0.5f);
FixtureDef boxShapeDef = new FixtureDef();
boxShapeDef.shape = polygon;
boxShapeDef.density = 1.0f;
BodyDef boxBodyDef = new BodyDef();
boxBodyDef.type = BodyType.Dynamic;
boxBodyDef.position = new Vector2(Rand.RandomFloat(xLo, xHi), Rand.RandomFloat(yLo, yHi));
Body body3 = _world.CreateBody(boxBodyDef);
body3.CreateFixture(boxShapeDef);
// Large box (recycle definitions)
polygon.SetAsBox(2.0f, 1.0f);
boxBodyDef.position = new Vector2(Rand.RandomFloat(xLo, xHi), Rand.RandomFloat(yLo, yHi));
Body body4 = _world.CreateBody(boxBodyDef);
body4.CreateFixture(boxShapeDef);
// Small circle
CircleShape circle = new CircleShape();
circle._radius = 1.0f;
FixtureDef circleShapeDef = new FixtureDef();
circleShapeDef.shape = circle;
circleShapeDef.density = 1.0f;
BodyDef circleBodyDef = new BodyDef();
circleBodyDef.type = BodyType.Dynamic;
circleBodyDef.position = new Vector2(Rand.RandomFloat(xLo, xHi), Rand.RandomFloat(yLo, yHi));
Body body5 = _world.CreateBody(circleBodyDef);
body5.CreateFixture(circleShapeDef);
// Large circle
circle._radius *= 2.0f;
circleBodyDef.position = new Vector2(Rand.RandomFloat(xLo, xHi), Rand.RandomFloat(yLo, yHi));
Body body6 = _world.CreateBody(circleBodyDef);
body6.CreateFixture(circleShapeDef);
}
void CreateLeg(float s, Vector2 wheelAnchor)
{
Vector2 p1 = new Vector2(5.4f * s, -6.1f);
Vector2 p2 = new Vector2(7.2f * s, -1.2f);
Vector2 p3 = new Vector2(4.3f * s, -1.9f);
Vector2 p4 = new Vector2(3.1f * s, 0.8f);
Vector2 p5 = new Vector2(6.0f * s, 1.5f);
Vector2 p6 = new Vector2(2.5f * s, 3.7f);
FixtureDef fd1 = new FixtureDef();
FixtureDef fd2 = new FixtureDef();
fd1.filter.groupIndex = -1;
fd2.filter.groupIndex = -1;
fd1.density = 1.0f;
fd2.density = 1.0f;
PolygonShape poly1 = new PolygonShape();
PolygonShape poly2 = new PolygonShape();
Vector2[] vertices = new Vector2[3];
if (s > 0.0f)
{
vertices[0] = p1;
vertices[1] = p2;
vertices[2] = p3;
poly1.Set(vertices, 3);
vertices[0] = Vector2.Zero;
vertices[1] = p5 - p4;
vertices[2] = p6 - p4;
poly2.Set(vertices, 3);
}
else
{
vertices[0] = p1;
vertices[1] = p3;
vertices[2] = p2;
poly1.Set(vertices, 3);
vertices[0] = Vector2.Zero;
vertices[1] = p6 - p4;
vertices[2] = p5 - p4;
poly2.Set(vertices, 3);
}
fd1.shape = poly1;
fd2.shape = poly2;
BodyDef bd1 = new BodyDef();
BodyDef bd2 = new BodyDef();
bd1.type = BodyType.Dynamic;
bd2.type = BodyType.Dynamic;
bd1.position = _offset;
bd2.position = p4 + _offset;
bd1.angularDamping = 10.0f;
bd2.angularDamping = 10.0f;
Body body1 = _world.CreateBody(bd1);
Body body2 = _world.CreateBody(bd2);
body1.CreateFixture(fd1);
body2.CreateFixture(fd2);
DistanceJointDef djd = new DistanceJointDef();
// Using a soft distanceraint can reduce some jitter.
// It also makes the structure seem a bit more fluid by
// acting like a suspension system.
djd.dampingRatio = 0.5f;
djd.frequencyHz = 10.0f;
djd.Initialize(body1, body2, p2 + _offset, p5 + _offset);
_world.CreateJoint(djd);
djd.Initialize(body1, body2, p3 + _offset, p4 + _offset);
_world.CreateJoint(djd);
djd.Initialize(body1, _wheel, p3 + _offset, wheelAnchor + _offset);
_world.CreateJoint(djd);
djd.Initialize(body2, _wheel, p6 + _offset, wheelAnchor + _offset);
_world.CreateJoint(djd);
RevoluteJointDef rjd = new RevoluteJointDef();
rjd.Initialize(body2, _chassis, p4 + _offset);
_world.CreateJoint(rjd);
}
public override void Step(Framework.Settings settings)
{
base.Step(settings);
_debugDraw.DrawString(50, _textLine, "Press: (,) to launch a bullet.");
if (_stepCount == 300)
{
if (_bullet != null)
{
_world.DestroyBody(_bullet);
_bullet = null;
}
{
CircleShape shape = new CircleShape();
shape._radius = 0.25f;
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 20.0f;
fd.restitution = 0.05f;
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.bullet = true;
bd.position = new Vector2(-31.0f, 5.0f);
_bullet = _world.CreateBody(bd);
_bullet.CreateFixture(fd);
_bullet.SetLinearVelocity(new Vector2(400.0f, 0.0f));
}
}
_textLine += 15;
}
public CollisionFiltering()
{
// Ground body
{
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
FixtureDef sd = new FixtureDef();
sd.Shape = shape;
sd.Friction = 0.3f;
BodyDef bd = new BodyDef();
Body ground = m_world.CreateBody(bd);
ground.CreateFixture(sd);
}
// Small triangle
Vec2[] vertices = new Vec2[3];
vertices[0] = new Vec2(-1.0f, 0.0f);
vertices[1] = new Vec2(1.0f, 0.0f);
vertices[2] = new Vec2(0.0f, 2.0f);
PolygonShape polygon = new PolygonShape(vertices);
FixtureDef triangleShapeDef = new FixtureDef();
triangleShapeDef.Shape = polygon;
triangleShapeDef.Density = 1.0f;
triangleShapeDef.Filter = new FilterData(k_triangleCategory, k_triangleMask, k_smallGroup);
BodyDef triangleBodyDef = new BodyDef();
triangleBodyDef.BodyType = BodyType.Dynamic;
triangleBodyDef.Position = new Vec2(-5.0f, 2.0f);
Body body1 = m_world.CreateBody(triangleBodyDef);
body1.CreateFixture(triangleShapeDef);
// Large triangle (recycle definitions)
vertices[0] *= 2.0f;
vertices[1] *= 2.0f;
vertices[2] *= 2.0f;
polygon.Vertices = vertices;
triangleShapeDef.Filter = new FilterData(triangleShapeDef.Filter.CategoryBits, triangleShapeDef.Filter.MaskBits, k_largeGroup);
triangleBodyDef.Position = new Vec2(-5.0f, 6.0f);
triangleBodyDef.FixedRotation = true; // look at me!
Body body2 = m_world.CreateBody(triangleBodyDef);
body2.CreateFixture(triangleShapeDef);
{
BodyDef bd = new BodyDef();
bd.BodyType = BodyType.Dynamic;
bd.Position = new Vec2(-5.0f, 10.0f);
Body body = m_world.CreateBody(bd);
PolygonShape p = new PolygonShape();
p.SetAsBox(0.5f, 1.0f);
body.CreateFixture(p, 1.0f);
PrismaticJointDef jd = new PrismaticJointDef();
jd.BodyA = body2;
jd.BodyB = body;
jd.EnableLimit = true;
jd.LocalAnchorA = new Vec2(0.0f, 4.0f);
jd.LocalAnchorB = Vec2.Empty;
jd.LocalAxis = new Vec2(0.0f, 1.0f);
jd.LowerTranslation = -1.0f;
jd.UpperTranslation = 1.0f;
m_world.CreateJoint(jd);
}
// Small box
polygon.SetAsBox(1.0f, 0.5f);
FixtureDef boxShapeDef = new FixtureDef();
boxShapeDef.Shape = polygon;
boxShapeDef.Density = 1.0f;
boxShapeDef.Restitution = 0.1f;
boxShapeDef.Filter = new FilterData(k_boxCategory, k_boxMask, k_smallGroup);
BodyDef boxBodyDef = new BodyDef();
boxBodyDef.BodyType = BodyType.Dynamic;
boxBodyDef.Position = new Vec2(0.0f, 2.0f);
Body body3 = m_world.CreateBody(boxBodyDef);
body3.CreateFixture(boxShapeDef);
// Large box (recycle definitions)
polygon.SetAsBox(2.0f, 1.0f);
boxShapeDef.Filter = new FilterData(k_boxCategory, k_boxMask, k_largeGroup);
boxBodyDef.Position = new Vec2(0.0f, 6.0f);
Body body4 = m_world.CreateBody(boxBodyDef);
body4.CreateFixture(boxShapeDef);
// Small circle
CircleShape circle = new CircleShape();
circle.Radius = 1.0f;
FixtureDef circleShapeDef = new FixtureDef();
circleShapeDef.Shape = circle;
circleShapeDef.Density = 1.0f;
circleShapeDef.Filter = new FilterData(k_circleCategory, k_circleMask, k_smallGroup);
BodyDef circleBodyDef = new BodyDef();
circleBodyDef.BodyType = BodyType.Dynamic;
circleBodyDef.Position = new Vec2(5.0f, 2.0f);
Body body5 = m_world.CreateBody(circleBodyDef);
body5.CreateFixture(circleShapeDef);
// Large circle
circle.Radius *= 2.0f;
circleShapeDef.Filter = new FilterData(k_circleCategory, k_circleMask, k_largeGroup);
circleBodyDef.Position = new Vec2(5.0f, 6.0f);
Body body6 = m_world.CreateBody(circleBodyDef);
body6.CreateFixture(circleShapeDef);
}
public override void Keyboard(KeyboardState state, KeyboardState oldState)
{
if (state.IsKeyDown(Keys.OemComma) && oldState.IsKeyUp(Keys.OemComma))
{
if (_bullet != null)
{
_world.DestroyBody(_bullet);
_bullet = null;
}
{
CircleShape shape = new CircleShape();
shape._radius = 0.25f;
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 20.0f;
fd.restitution = 0.05f;
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.bullet = true;
bd.position = new Vector2(-31.0f, 5.0f);
_bullet = _world.CreateBody(bd);
_bullet.CreateFixture(fd);
_bullet.SetLinearVelocity(new Vector2(400.0f, 0.0f));
}
}
}
public BodyTypes()
{
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = m_world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vec2(-20.0f, 0.0f), new Vec2(20.0f, 0.0f));
FixtureDef fd = new FixtureDef();
fd.Shape = shape;
ground.CreateFixture(fd);
}
// Define attachment
{
BodyDef bd = new BodyDef();
bd.BodyType = BodyType.Dynamic;
bd.Position = new Vec2(0.0f, 3.0f);
m_attachment = m_world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.5f, 2.0f);
m_attachment.CreateFixture(shape, 2.0f);
}
// Define platform
{
BodyDef bd = new BodyDef();
bd.BodyType = BodyType.Dynamic;
bd.Position = new Vec2(-4.0f, 5.0f);
m_platform = m_world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.5f, 4.0f, new Vec2(4.0f, 0.0f), 0.5f * (float)Math.PI);
FixtureDef fd = new FixtureDef();
fd.Shape = shape;
fd.Friction = 0.6f;
fd.Density = 2.0f;
m_platform.CreateFixture(fd);
RevoluteJointDef rjd = new RevoluteJointDef();
rjd.Initialize(m_attachment, m_platform, new Vec2(0.0f, 5.0f));
rjd.MaxMotorTorque = 50.0f;
rjd.EnableMotor = true;
m_world.CreateJoint(rjd);
PrismaticJointDef pjd = new PrismaticJointDef();
pjd.Initialize(ground, m_platform, new Vec2(0.0f, 5.0f), new Vec2(1.0f, 0.0f));
pjd.MaxMotorForce = 1000.0f;
pjd.EnableMotor = true;
pjd.LowerTranslation = -10.0f;
pjd.UpperTranslation = 10.0f;
pjd.EnableLimit = true;
m_world.CreateJoint(pjd);
m_speed = 3.0f;
}
// Create a payload
{
BodyDef bd = new BodyDef();
bd.BodyType = BodyType.Dynamic;
bd.Position = new Vec2(0.0f, 8.0f);
m_payload = m_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;
m_payload.CreateFixture(fd);
}
}
public CollisionFiltering()
{
// Ground body
{
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
FixtureDef sd = new FixtureDef();
sd.shape = shape;
sd.friction = 0.3f;
BodyDef bd = new BodyDef();
Body ground = _world.CreateBody(bd);
ground.CreateFixture(sd);
}
// Small triangle
Vector2[] vertices = new Vector2[3];
vertices[0] = new Vector2(-1.0f, 0.0f);
vertices[1] = new Vector2(1.0f, 0.0f);
vertices[2] = new Vector2(0.0f, 2.0f);
PolygonShape polygon = new PolygonShape();
polygon.Set(vertices, 3);
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.Dynamic;
triangleBodyDef.position = new Vector2(-5.0f, 2.0f);
Body body1 = _world.CreateBody(triangleBodyDef);
body1.CreateFixture(triangleShapeDef);
// Large triangle (recycle definitions)
vertices[0] *= 2.0f;
vertices[1] *= 2.0f;
vertices[2] *= 2.0f;
polygon.Set(vertices, 3);
triangleShapeDef.filter.groupIndex = k_largeGroup;
triangleBodyDef.position = new Vector2(-5.0f, 6.0f);
triangleBodyDef.fixedRotation = true; // look at me!
Body body2 = _world.CreateBody(triangleBodyDef);
body2.CreateFixture(triangleShapeDef);
{
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(-5.0f, 10.0f);
Body body = _world.CreateBody(bd);
PolygonShape p = new PolygonShape();
p.SetAsBox(0.5f, 1.0f);
body.CreateFixture(p, 1.0f);
PrismaticJointDef jd = new PrismaticJointDef();
jd.bodyA = body2;
jd.bodyB = body;
jd.enableLimit = true;
jd.localAnchorA = new Vector2(0.0f, 4.0f);
jd.localAnchorB = Vector2.Zero;
jd.localAxis1 = new Vector2(0.0f, 1.0f);
jd.lowerTranslation = -1.0f;
jd.upperTranslation = 1.0f;
_world.CreateJoint(jd);
}
// Small box
polygon.SetAsBox(1.0f, 0.5f);
FixtureDef boxShapeDef = new FixtureDef();
boxShapeDef.shape = polygon;
boxShapeDef.density = 1.0f;
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.Dynamic;
boxBodyDef.position = new Vector2(0.0f, 2.0f);
Body body3 = _world.CreateBody(boxBodyDef);
body3.CreateFixture(boxShapeDef);
// Large box (recycle definitions)
polygon.SetAsBox(2.0f, 1.0f);
boxShapeDef.filter.groupIndex = k_largeGroup;
boxBodyDef.position = new Vector2(0.0f, 6.0f);
Body body4 = _world.CreateBody(boxBodyDef);
body4.CreateFixture(boxShapeDef);
// Small circle
CircleShape circle = new CircleShape();
circle._radius = 1.0f;
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.Dynamic;
circleBodyDef.position = new Vector2(5.0f, 2.0f);
Body body5 = _world.CreateBody(circleBodyDef);
body5.CreateFixture(circleShapeDef);
// Large circle
circle._radius *= 2.0f;
circleShapeDef.filter.groupIndex = k_largeGroup;
circleBodyDef.position = new Vector2(5.0f, 6.0f);
Body body6 = _world.CreateBody(circleBodyDef);
body6.CreateFixture(circleShapeDef);
}
public Dominos()
{
Body b1 = null;
{
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
BodyDef bd = new BodyDef();
b1 = _world.CreateBody(bd);
b1.CreateFixture(shape, 0.0f);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(6.0f, 0.25f);
BodyDef bd = new BodyDef();
bd.position = new Vector2(-1.5f, 10.0f);
Body ground = _world.CreateBody(bd);
ground.CreateFixture(shape, 0.0f);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.1f, 1.0f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 20.0f;
fd.friction = 0.1f;
for (int i = 0; i < 10; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(-6.0f + 1.0f * i, 11.25f);
Body body = _world.CreateBody(bd);
body.CreateFixture(fd);
}
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(7.0f, 0.25f, Vector2.Zero, 0.3f);
BodyDef bd = new BodyDef();
bd.position = new Vector2(1.0f, 6.0f);
Body ground = _world.CreateBody(bd);
ground.CreateFixture(shape, 0.0f);
}
Body b2 = null;
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.25f, 1.5f);
BodyDef bd = new BodyDef();
bd.position = new Vector2(-7.0f, 4.0f);
b2 = _world.CreateBody(bd);
b2.CreateFixture(shape, 0.0f);
}
Body b3 = null;
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(6.0f, 0.125f);
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(-0.9f, 1.0f);
bd.angle = -0.15f;
b3 = _world.CreateBody(bd);
b3.CreateFixture(shape, 10.0f);
}
RevoluteJointDef jd = new RevoluteJointDef();
Vector2 anchor;
anchor = new Vector2(-2.0f, 1.0f);
jd.Initialize(b1, b3, anchor);
jd.collideConnected = true;
_world.CreateJoint(jd);
Body b4 = null;
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.25f, 0.25f);
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(-10.0f, 15.0f);
b4 = _world.CreateBody(bd);
b4.CreateFixture(shape, 10.0f);
}
anchor = new Vector2(-7.0f, 15.0f);
jd.Initialize(b2, b4, anchor);
_world.CreateJoint(jd);
Body b5 = null;
{
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(6.5f, 3.0f);
b5 = _world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 10.0f;
fd.friction = 0.1f;
shape.SetAsBox(1.0f, 0.1f, new Vector2(0.0f, -0.9f), 0.0f);
b5.CreateFixture(fd);
shape.SetAsBox(0.1f, 1.0f, new Vector2(-0.9f, 0.0f), 0.0f);
b5.CreateFixture(fd);
shape.SetAsBox(0.1f, 1.0f, new Vector2(0.9f, 0.0f), 0.0f);
b5.CreateFixture(fd);
}
anchor = new Vector2(6.0f, 2.0f);
jd.Initialize(b1, b5, anchor);
_world.CreateJoint(jd);
Body b6 = null;
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(1.0f, 0.1f);
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(6.5f, 4.1f);
b6 = _world.CreateBody(bd);
b6.CreateFixture(shape, 30.0f);
}
anchor = new Vector2(7.5f, 4.0f);
jd.Initialize(b5, b6, anchor);
_world.CreateJoint(jd);
Body b7 = null;
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.1f, 1.0f);
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(7.4f, 1.0f);
b7 = _world.CreateBody(bd);
b7.CreateFixture(shape, 10.0f);
}
DistanceJointDef djd = new DistanceJointDef();
djd.bodyA = b3;
djd.bodyB = b7;
djd.localAnchorA = new Vector2(6.0f, 0.0f);
djd.localAnchorB = new Vector2(0.0f, -1.0f);
Vector2 d = djd.bodyB.GetWorldPoint(djd.localAnchorB) - djd.bodyA.GetWorldPoint(djd.localAnchorA);
djd.length = d.Length();
_world.CreateJoint(djd);
{
float radius = 0.2f;
CircleShape shape = new CircleShape();
shape._radius = radius;
for (int i = 0; i < 4; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(5.9f + 2.0f * radius * i, 2.4f);
Body body = _world.CreateBody(bd);
body.CreateFixture(shape, 10.0f);
}
}
}
public Cantilever()
{
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = _world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
{
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.Dynamic;
bd.position = new Vector2(-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;
}
}
{
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.Dynamic;
bd.position = new Vector2(-14.5f + 1.0f * i, 15.0f);
bd.inertiaScale = 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;
}
}
{
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.Dynamic;
bd.position = new Vector2(-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;
}
}
{
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.Dynamic;
bd.position = new Vector2(5.5f + 1.0f * i, 10.0f);
bd.inertiaScale = 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;
}
}
for (int i = 0; i < 2; ++i)
{
Vector2[] vertices = new Vector2[3];
vertices[0] = new Vector2(-0.5f, 0.0f);
vertices[1] = new Vector2(0.5f, 0.0f);
vertices[2] = new Vector2(0.0f, 1.5f);
PolygonShape shape = new PolygonShape();
shape.Set(vertices, 3);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 1.0f;
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(-8.0f + 8.0f * i, 12.0f);
Body body = _world.CreateBody(bd);
body.CreateFixture(fd);
}
for (int i = 0; i < 2; ++i)
{
CircleShape shape = new CircleShape();
shape._radius = 0.5f;
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 1.0f;
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(-6.0f + 6.0f * i, 10.0f);
Body body = _world.CreateBody(bd);
body.CreateFixture(fd);
}
}
public FixtureNode(FixtureDef fixture)
: base("Fixture")
{
Fixture = fixture;
}
TheoJansen()
{
_offset = new Vector2(0.0f, 8.0f);
_motorSpeed = 2.0f;
_motorOn = true;
Vector2 pivot = new Vector2(0.0f, 0.8f);
// Ground
{
BodyDef bd = new BodyDef();
Body ground = _world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vector2(-50.0f, 0.0f), new Vector2(50.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
shape.SetAsEdge(new Vector2(-50.0f, 0.0f), new Vector2(-50.0f, 10.0f));
ground.CreateFixture(shape, 0.0f);
shape.SetAsEdge(new Vector2(50.0f, 0.0f), new Vector2(50.0f, 10.0f));
ground.CreateFixture(shape, 0.0f);
}
// Balls
for (int i = 0; i < 40; ++i)
{
CircleShape shape = new CircleShape();
shape._radius = 0.25f;
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(-40.0f + 2.0f * i, 0.5f);
Body body = _world.CreateBody(bd);
body.CreateFixture(shape, 1.0f);
}
// Chassis
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(2.5f, 1.0f);
FixtureDef sd = new FixtureDef();
sd.density = 1.0f;
sd.shape = shape;
sd.filter.groupIndex = -1;
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = pivot + _offset;
_chassis = _world.CreateBody(bd);
_chassis.CreateFixture(sd);
}
{
CircleShape shape = new CircleShape();
shape._radius = 1.6f;
FixtureDef sd = new FixtureDef();
sd.density = 1.0f;
sd.shape = shape;
sd.filter.groupIndex = -1;
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = pivot + _offset;
_wheel = _world.CreateBody(bd);
_wheel.CreateFixture(sd);
}
{
RevoluteJointDef jd = new RevoluteJointDef();
jd.Initialize(_wheel, _chassis, pivot + _offset);
jd.collideConnected = false;
jd.motorSpeed = _motorSpeed;
jd.maxMotorTorque = 400.0f;
jd.enableMotor = _motorOn;
_motorJoint = (RevoluteJoint)_world.CreateJoint(jd);
}
Vector2 wheelAnchor;
wheelAnchor = pivot + new Vector2(0.0f, -0.8f);
CreateLeg(-1.0f, wheelAnchor);
CreateLeg(1.0f, wheelAnchor);
_wheel.SetTransform(_wheel.GetPosition(), 120.0f * (float)Settings.b2_pi / 180.0f);
CreateLeg(-1.0f, wheelAnchor);
CreateLeg(1.0f, wheelAnchor);
_wheel.SetTransform(_wheel.GetPosition(), -120.0f * (float)Settings.b2_pi / 180.0f);
CreateLeg(-1.0f, wheelAnchor);
CreateLeg(1.0f, wheelAnchor);
}
