/// <summary>
/// Creates a line joint
/// </summary>
/// <param name="bodyA"></param>
/// <param name="bodyB"></param>
/// <param name="anchor"></param>
/// <param name="axis"></param>
public static LineJoint CreateLineJoint(Body bodyA, Body bodyB, Vector2 anchor, Vector2 axis)
{
LineJoint joint = new LineJoint(bodyA, bodyB, anchor, axis);
return(joint);
}
public override void LoadContent()
{
base.LoadContent();
World.Gravity = new Vector2(0f, 10f);
HasCursor = false;
EnableCameraControl = true;
HasVirtualStick = true;
_hzFront = 8.5f;
_hzBack = 5.0f;
_zeta = 0.85f;
_maxSpeed = 50.0f;
_scale = 1f;
// terrain
_ground = new Body(World);
{
Vertices terrain = new Vertices();
terrain.Add(new Vector2(-20f, -5f));
terrain.Add(new Vector2(-20f, 0f));
terrain.Add(new Vector2(20f, 0f));
terrain.Add(new Vector2(25f, -0.25f));
terrain.Add(new Vector2(30f, -1f));
terrain.Add(new Vector2(35f, -4f));
terrain.Add(new Vector2(40f, 0f));
terrain.Add(new Vector2(45f, 0f));
terrain.Add(new Vector2(50f, 1f));
terrain.Add(new Vector2(55f, 2f));
terrain.Add(new Vector2(60f, 2f));
terrain.Add(new Vector2(65f, 1.25f));
terrain.Add(new Vector2(70f, 0f));
terrain.Add(new Vector2(75f, -0.3f));
terrain.Add(new Vector2(80f, -1.5f));
terrain.Add(new Vector2(85f, -3.5f));
terrain.Add(new Vector2(90f, 0f));
terrain.Add(new Vector2(95f, 0.5f));
terrain.Add(new Vector2(100f, 1f));
terrain.Add(new Vector2(105f, 2f));
terrain.Add(new Vector2(110f, 2.5f));
terrain.Add(new Vector2(115f, 1.3f));
terrain.Add(new Vector2(120f, 0f));
terrain.Add(new Vector2(160f, 0f));
terrain.Add(new Vector2(159f, 10f));
terrain.Add(new Vector2(201f, 10f));
terrain.Add(new Vector2(200f, 0f));
terrain.Add(new Vector2(240f, 0f));
terrain.Add(new Vector2(250f, -5f));
terrain.Add(new Vector2(250f, 10f));
terrain.Add(new Vector2(270f, 10f));
terrain.Add(new Vector2(270f, 0));
terrain.Add(new Vector2(310f, 0));
terrain.Add(new Vector2(310f, -5));
for (int i = 0; i < terrain.Count - 1; ++i)
{
FixtureFactory.AttachEdge(terrain[i], terrain[i + 1], _ground);
}
_ground.Friction = 0.6f;
}
// teeter board
{
_board = new Body(World);
_board.BodyType = BodyType.Dynamic;
_board.Position = new Vector2(140.0f, -1.0f);
PolygonShape box = new PolygonShape(1f);
box.SetAsBox(10.0f, 0.25f);
_teeter =
new Sprite(ScreenManager.Assets.TextureFromShape(box, MaterialType.Pavement, Color.LightGray, 1.2f));
_board.CreateFixture(box);
RevoluteJoint teeterAxis = JointFactory.CreateRevoluteJoint(_ground, _board, Vector2.Zero);
teeterAxis.LowerLimit = -8.0f * Settings.Pi / 180.0f;
teeterAxis.UpperLimit = 8.0f * Settings.Pi / 180.0f;
teeterAxis.LimitEnabled = true;
World.AddJoint(teeterAxis);
_board.ApplyAngularImpulse(-100.0f);
}
// bridge
{
_bridgeSegments = new List <Body>();
const int segmentCount = 20;
PolygonShape shape = new PolygonShape(1f);
shape.SetAsBox(1.0f, 0.125f);
_bridge =
new Sprite(ScreenManager.Assets.TextureFromShape(shape, MaterialType.Dots, Color.SandyBrown, 1f));
Body prevBody = _ground;
for (int i = 0; i < segmentCount; ++i)
{
Body body = new Body(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(161f + 2f * i, 0.125f);
Fixture fix = body.CreateFixture(shape);
fix.Friction = 0.6f;
JointFactory.CreateRevoluteJoint(World, prevBody, body, -Vector2.UnitX);
prevBody = body;
_bridgeSegments.Add(body);
}
JointFactory.CreateRevoluteJoint(World, _ground, prevBody, Vector2.UnitX);
}
// boxes
{
_boxes = new List <Body>();
PolygonShape box = new PolygonShape(1f);
box.SetAsBox(0.5f, 0.5f);
_box =
new Sprite(ScreenManager.Assets.TextureFromShape(box, MaterialType.Squares, Color.SaddleBrown, 2f));
Body body = new Body(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(220f, -0.5f);
body.CreateFixture(box);
_boxes.Add(body);
body = new Body(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(220f, -1.5f);
body.CreateFixture(box);
_boxes.Add(body);
body = new Body(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(220f, -2.5f);
body.CreateFixture(box);
_boxes.Add(body);
}
// car
{
Vertices vertices = new Vertices(8);
vertices.Add(new Vector2(-2.5f, 0.08f));
vertices.Add(new Vector2(-2.375f, -0.46f));
vertices.Add(new Vector2(-0.58f, -0.92f));
vertices.Add(new Vector2(0.46f, -0.92f));
vertices.Add(new Vector2(2.5f, -0.17f));
vertices.Add(new Vector2(2.5f, 0.205f));
vertices.Add(new Vector2(2.3f, 0.33f));
vertices.Add(new Vector2(-2.25f, 0.35f));
PolygonShape chassis = new PolygonShape(vertices, 2f);
_car = new Body(World);
_car.BodyType = BodyType.Dynamic;
_car.Position = new Vector2(0.0f, -1.0f);
_car.CreateFixture(chassis);
_wheelBack = new Body(World);
_wheelBack.BodyType = BodyType.Dynamic;
_wheelBack.Position = new Vector2(-1.709f, -0.78f);
Fixture fix = _wheelBack.CreateFixture(new CircleShape(0.5f, 0.8f));
fix.Friction = 0.9f;
_wheelFront = new Body(World);
_wheelFront.BodyType = BodyType.Dynamic;
_wheelFront.Position = new Vector2(1.54f, -0.8f);
_wheelFront.CreateFixture(new CircleShape(0.5f, 1f));
Vector2 axis = new Vector2(0.0f, -1.2f);
_springBack = new LineJoint(_car, _wheelBack, _wheelBack.Position, axis);
_springBack.MotorSpeed = 0.0f;
_springBack.MaxMotorTorque = 20.0f;
_springBack.MotorEnabled = true;
_springBack.Frequency = _hzBack;
_springBack.DampingRatio = _zeta;
World.AddJoint(_springBack);
_springFront = new LineJoint(_car, _wheelFront, _wheelFront.Position, axis);
_springFront.MotorSpeed = 0.0f;
_springFront.MaxMotorTorque = 10.0f;
_springFront.MotorEnabled = false;
_springFront.Frequency = _hzFront;
_springFront.DampingRatio = _zeta;
World.AddJoint(_springFront);
_carBody = new Sprite(ScreenManager.Content.Load <Texture2D>("Samples/car"),
AssetCreator.CalculateOrigin(_car) / _scale);
_wheel = new Sprite(ScreenManager.Content.Load <Texture2D>("Samples/wheel"));
}
Camera.MinRotation = -0.05f;
Camera.MaxRotation = 0.05f;
Camera.TrackingBody = _car;
Camera.EnableTracking = true;
}
private CarTest()
{
_hz = 4.0f;
_zeta = 0.7f;
_speed = 50.0f;
Body ground = new Body(World);
{
EdgeShape shape = new EdgeShape(new Vector2(-20.0f, 0.0f), new Vector2(20.0f, 0.0f));
ground.CreateFixture(shape);
float[] hs = new[] { 0.25f, 1.0f, 4.0f, 0.0f, 0.0f, -1.0f, -2.0f, -2.0f, -1.25f, 0.0f };
float x = 20.0f, y1 = 0.0f;
const float dx = 5.0f;
for (int i = 0; i < 10; ++i)
{
float y2 = hs[i];
FixtureFactory.AttachEdge(new Vector2(x, y1), new Vector2(x + dx, y2), ground);
y1 = y2;
x += dx;
}
for (int i = 0; i < 10; ++i)
{
float y2 = hs[i];
FixtureFactory.AttachEdge(new Vector2(x, y1), new Vector2(x + dx, y2), ground);
y1 = y2;
x += dx;
}
FixtureFactory.AttachEdge(new Vector2(x, 0.0f), new Vector2(x + 40.0f, 0.0f), ground);
x += 80.0f;
FixtureFactory.AttachEdge(new Vector2(x, 0.0f), new Vector2(x + 40.0f, 0.0f), ground);
x += 40.0f;
FixtureFactory.AttachEdge(new Vector2(x, 0.0f), new Vector2(x + 10.0f, 5.0f), ground);
x += 20.0f;
FixtureFactory.AttachEdge(new Vector2(x, 0.0f), new Vector2(x + 40.0f, 0.0f), ground);
x += 40.0f;
FixtureFactory.AttachEdge(new Vector2(x, 0.0f), new Vector2(x, 20.0f), ground);
ground.Friction = 0.6f;
}
// Teeter
{
Body body = new Body(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(140.0f, 1.0f);
PolygonShape box = new PolygonShape(1);
box.SetAsBox(10.0f, 0.25f);
body.CreateFixture(box);
RevoluteJoint jd = JointFactory.CreateRevoluteJoint(ground, body, Vector2.Zero);
jd.LowerLimit = -8.0f * Settings.Pi / 180.0f;
jd.UpperLimit = 8.0f * Settings.Pi / 180.0f;
jd.LimitEnabled = true;
World.AddJoint(jd);
body.ApplyAngularImpulse(100.0f);
}
//Bridge
{
const int N = 20;
PolygonShape shape = new PolygonShape(1);
shape.SetAsBox(1.0f, 0.125f);
Body prevBody = ground;
for (int i = 0; i < N; ++i)
{
Body body = new Body(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(161.0f + 2.0f * i, -0.125f);
Fixture fix = body.CreateFixture(shape);
fix.Friction = 0.6f;
Vector2 anchor = new Vector2(-1, 0);
JointFactory.CreateRevoluteJoint(World, prevBody, body, anchor);
prevBody = body;
}
Vector2 anchor2 = new Vector2(1.0f, 0);
JointFactory.CreateRevoluteJoint(World, ground, prevBody, anchor2);
}
// Boxes
{
PolygonShape box = new PolygonShape(0.5f);
box.SetAsBox(0.5f, 0.5f);
Body body = new Body(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(230.0f, 0.5f);
body.CreateFixture(box);
body = new Body(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(230.0f, 1.5f);
body.CreateFixture(box);
body = new Body(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(230.0f, 2.5f);
body.CreateFixture(box);
body = new Body(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(230.0f, 3.5f);
body.CreateFixture(box);
body = new Body(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(230.0f, 4.5f);
body.CreateFixture(box);
}
// Car
{
Vertices vertices = new Vertices(8);
vertices.Add(new Vector2(-1.5f, -0.5f));
vertices.Add(new Vector2(1.5f, -0.5f));
vertices.Add(new Vector2(1.5f, 0.0f));
vertices.Add(new Vector2(0.0f, 0.9f));
vertices.Add(new Vector2(-1.15f, 0.9f));
vertices.Add(new Vector2(-1.5f, 0.2f));
PolygonShape chassis = new PolygonShape(vertices, 1);
CircleShape circle = new CircleShape(0.4f, 1);
_car = new Body(World);
_car.BodyType = BodyType.Dynamic;
_car.Position = new Vector2(0.0f, 1.0f);
_car.CreateFixture(chassis);
_wheel1 = new Body(World);
_wheel1.BodyType = BodyType.Dynamic;
_wheel1.Position = new Vector2(-1.0f, 0.35f);
Fixture fix = _wheel1.CreateFixture(circle);
fix.Friction = 0.9f;
_wheel2 = new Body(World);
_wheel2.BodyType = BodyType.Dynamic;
_wheel2.Position = new Vector2(1.0f, 0.4f);
_wheel2.CreateFixture(circle);
Vector2 axis = new Vector2(0.0f, 1.0f);
_spring1 = new LineJoint(_car, _wheel1, _wheel1.Position, axis);
_spring1.MotorSpeed = 0.0f;
_spring1.MaxMotorTorque = 20.0f;
_spring1.MotorEnabled = true;
_spring1.Frequency = _hz;
_spring1.DampingRatio = _zeta;
World.AddJoint(_spring1);
_spring2 = new LineJoint(_car, _wheel2, _wheel2.Position, axis);
_spring2.MotorSpeed = 0.0f;
_spring2.MaxMotorTorque = 10.0f;
_spring2.MotorEnabled = false;
_spring2.Frequency = _hz;
_spring2.DampingRatio = _zeta;
World.AddJoint(_spring2);
}
}
public static Vehicle createJeep(Vector2 pos, float damping = 0.5f, float freq = 2.5f, float torque = 1.0f, float friction = 2f, float bodyMassMultiplier = 1f, float wheelMassMultiplier = 1f)
{
pos = ConvertUnits.ToDisplayUnits(pos);
PhysicsObject _car;
PhysicsObject _fwheel;
PhysicsObject _rwheel;
LineJoint _fjoint;
LineJoint _rjoint;
// car body
_car = PhysicsObject.createFromTexture(Main.sprTextures[2], Main.sprTextures[2].Width);
_car.dposition = pos;
_car.texture = Main.sprTextures[2];
_car.body.Mass *= bodyMassMultiplier;
// wheels
_fwheel = PhysicsObject.createCircle(ConvertUnits.ToSimUnits(65));
_fwheel.dposition = pos + new Vector2(459, 209);
_fwheel.texture = Main.sprTextures[3];
_fwheel.origin = TextureCreator.CalculateOrigin(_fwheel.body);
_fwheel.body.Friction = friction;
_fwheel.body.Mass *= wheelMassMultiplier;
_rwheel = PhysicsObject.createCircle(ConvertUnits.ToSimUnits(65));
_rwheel.dposition = pos + new Vector2(127, 209);
_rwheel.texture = Main.sprTextures[3];
_fwheel.origin = TextureCreator.CalculateOrigin(_fwheel.body);
_rwheel.body.Friction = friction;
_rwheel.body.Mass *= wheelMassMultiplier;
// wheel joints
Vector2 axis = new Vector2(0, 1f);
_fjoint = new LineJoint(_car.body, _fwheel.body, _fwheel.position, axis);
_fjoint.MotorEnabled = true;
_fjoint.MotorSpeed = 0.0f;
_fjoint.MaxMotorTorque = torque;
_fjoint.Frequency = freq;
_fjoint.DampingRatio = damping;
Main.physicsWorld.AddJoint(_fjoint);
_rjoint = new LineJoint(_car.body, _rwheel.body, _rwheel.position, axis);
_rjoint.MotorEnabled = true;
_rjoint.MotorSpeed = 0.0f;
_rjoint.MaxMotorTorque = torque;
_rjoint.Frequency = freq;
_rjoint.DampingRatio = damping;
Main.physicsWorld.AddJoint(_rjoint);
Vehicle car = new Vehicle();
car.body.Add(_car);
car.wheels.Add(_fwheel);
car.wheels.Add(_rwheel);
car.lJoints.Add(_fjoint);
car.lJoints.Add(_rjoint);
car.maxSpeed = 10.0f;
return(car);
}
public Joint GetPhysicsJoint(Vector2 scale)
{
float scaleD = (scale.X + scale.Y) / 2f;
Body body1, body2;
string[] bodyNames = PrefabUtils.GetEntityAndComponentName(Body1);
if (bodyNames[0] == null)
{
body1 = FatherEntity.PhysicsEntity.GetBody(Body1);
}
else
{
body1 = GameWorldManager.Instance.GetEntity(bodyNames[0]).PhysicsEntity.GetBody(bodyNames[1]);
}
bodyNames = PrefabUtils.GetEntityAndComponentName(Body2);
if (bodyNames[0] == null)
{
body2 = FatherEntity.PhysicsEntity.GetBody(Body2);
}
else
{
body2 = GameWorldManager.Instance.GetEntity(bodyNames[0]).PhysicsEntity.GetBody(bodyNames[1]);
}
switch (Type)
{
case JointType.Line:
LineJoint joint = new LineJoint(body1, body2, UnitsConverter.ToSimUnits(Anchor) * scale, Axis);
joint.MaxMotorTorque = MaxMotorTorque;
joint.MotorEnabled = MotorEnabled;
joint.Frequency = Frequency;
joint.DampingRatio = DampingRatio;
joint.CollideConnected = CollideConnected;
Platform.Instance.PhysicsWorld.AddJoint(joint);
return(joint);
case JointType.Revolute:
RevoluteJoint joint2 = new RevoluteJoint(body1, body2, UnitsConverter.ToSimUnits(Anchor) * scale, UnitsConverter.ToSimUnits(Anchor2) * scale);
joint2.CollideConnected = CollideConnected;
joint2.MaxMotorTorque = MaxMotorTorque;
joint2.MotorEnabled = MotorEnabled;
Platform.Instance.PhysicsWorld.AddJoint(joint2);
return(joint2);
case JointType.Weld:
WeldJoint joint3 = new WeldJoint(body1, body2, UnitsConverter.ToSimUnits(Anchor) * scale, UnitsConverter.ToSimUnits(Anchor2) * scale);
joint3.CollideConnected = CollideConnected;
Platform.Instance.PhysicsWorld.AddJoint(joint3);
return(joint3);
case JointType.Slider:
SliderJoint joint4 = new SliderJoint(body1, body2, UnitsConverter.ToSimUnits(Anchor) * scale, UnitsConverter.ToSimUnits(Anchor2) * scale, UnitsConverter.ToSimUnits(MinLength) * scaleD, UnitsConverter.ToSimUnits(MaxLength) * scaleD);
joint4.DampingRatio = DampingRatio;
joint4.CollideConnected = CollideConnected;
Platform.Instance.PhysicsWorld.AddJoint(joint4);
return(joint4);
case JointType.Distance:
DistanceJoint joint5 = new DistanceJoint(body1, body2, UnitsConverter.ToSimUnits(Anchor) * scale, UnitsConverter.ToSimUnits(Anchor2) * scale);
joint5.Frequency = Frequency;
joint5.DampingRatio = DampingRatio;
joint5.CollideConnected = CollideConnected;
joint5.Length = UnitsConverter.ToSimUnits(Length) * scaleD;
Platform.Instance.PhysicsWorld.AddJoint(joint5);
return(joint5);
case JointType.Prismatic:
PrismaticJoint joint6 = new PrismaticJoint(body1, body2, UnitsConverter.ToSimUnits(Anchor) * scale, UnitsConverter.ToSimUnits(Anchor2) * scale, Axis);
joint6.CollideConnected = CollideConnected;
joint6.UpperLimit = UnitsConverter.ToSimUnits(UpperLimit) * scaleD;
joint6.LowerLimit = UnitsConverter.ToSimUnits(LowerLimit) * scaleD;
joint6.LimitEnabled = LimitEnabled;
joint6.MotorEnabled = MotorEnabled;
joint6.MaxMotorForce = MaxMotorForce * scaleD;
joint6.MotorSpeed = MotorSpeed * scaleD;
Platform.Instance.PhysicsWorld.AddJoint(joint6);
return(joint6);
default:
return(null);
}
}
