public static PrefabEntity CreatePrefab()
{
PrefabEntity robot = new PrefabEntity {
Name = "Robot"
};
/* gear bodies */
ShapePrefab gearShape = new ShapePrefab {
Type = ShapeType.Circle, XRadius = 14f, Density = 1f
};
BodyPrefab gear1 = new BodyPrefab
{
Name = "Gear1",
Friction = 0.5f,
Restitution = 0.1f,
LocalPosition = new Vector2(-27.93f, -20.13f),
Static = false,
Shapes = new List <ShapePrefab> {
gearShape
},
};
BodyPrefab gear2 = new BodyPrefab
{
Name = "Gear2",
Friction = 0.5f,
Restitution = 0.1f,
LocalPosition = new Vector2(27.93f, -20.13f),
Static = false,
Shapes = new List <ShapePrefab> {
gearShape
},
};
BodyPrefab gear3 = new BodyPrefab
{
Name = "Gear3",
Friction = 0.5f,
Restitution = 0.1f,
LocalPosition = new Vector2(0f, 28.25f),
Static = false,
Shapes = new List <ShapePrefab> {
gearShape
},
};
robot.RegisterBody(gear1);
robot.RegisterBody(gear2);
robot.RegisterBody(gear3);
/* chassis body */
ShapePrefab chassisShape = new ShapePrefab {
Type = ShapeType.Polygon, Density = 4f, Polygon = new List <Vertices> {
new Vertices()
}
};
chassisShape.Polygon[0].Add(new Vector2(-15.41f, -13.87f));
chassisShape.Polygon[0].Add(new Vector2(0f, 13.74f));
chassisShape.Polygon[0].Add(new Vector2(15.41f, -13.87f));
BodyPrefab chassis = new BodyPrefab
{
Name = "Chassis",
Restitution = 0.1f,
Friction = 0.5f,
LocalPosition = Vector2.Zero,
Static = false,
Shapes = new List <ShapePrefab> {
chassisShape
},
};
robot.RegisterBody(chassis, true); // is main body
/* gear joints */
const float jointLengthModifier = 1f;
JointPrefab gearJoint1 = new JointPrefab
{
Type = JointType.Line,
Name = "GearJoint1",
Body1 = "Chassis",
Body2 = "Gear1",
Anchor = gear1.LocalPosition,
Axis = new Vector2(0.66f, -0.33f) * jointLengthModifier,
MaxMotorTorque = 10f,
Frequency = 10f,
DampingRatio = 0.85f,
MotorEnabled = true,
};
JointPrefab gearJoint2 = new JointPrefab
{
Type = JointType.Line,
Name = "GearJoint2",
Body1 = "Chassis",
Body2 = "Gear2",
Anchor = gear2.LocalPosition,
Axis = new Vector2(-0.66f, -0.33f) * jointLengthModifier,
MaxMotorTorque = 10f,
Frequency = 10f,
DampingRatio = 0.85f,
MotorEnabled = true
};
JointPrefab gearJoint3 = new JointPrefab
{
Type = JointType.Line,
Name = "GearJoint3",
Body1 = "Chassis",
Body2 = "Gear3",
Anchor = gear3.LocalPosition,
Axis = new Vector2(0f, 0.76f) * jointLengthModifier,
MaxMotorTorque = 10f,
Frequency = 10f,
DampingRatio = 0.85f,
MotorEnabled = true
};
robot.RegisterJoint(gearJoint1);
robot.RegisterJoint(gearJoint2);
robot.RegisterJoint(gearJoint3);
ShapePrefab linkShape = new ShapePrefab
{
Type = ShapeType.Rectangle,
Width = 2.51f,
Height = 8.88f,
Density = 2f,
Offset = Vector2.Zero
};
ShapePrefab linkFeetShape = new ShapePrefab
{
Type = ShapeType.Rectangle,
Width = 2.51f,
Height = 4f,
Density = 2f,
Offset = new Vector2(2f, 0f)
};
BodyPrefab link = new BodyPrefab
{
Name = "Link",
Shapes = new List <ShapePrefab> {
linkShape, linkFeetShape
},
Friction = 1f,
Restitution = 0f,
};
PathPrefab track = new PathPrefab
{
Name = "Track",
Anchor1 = new Vector2(-1.5f, -4.4f),
Anchor2 = new Vector2(-1.5f, 4.4f),
BodyCount = 29,
CollideConnected = false,
ConnectFirstAndLast = true,
JointType = JointType.Revolute,
Path = new List <Vector2>
{
new Vector2(60f, -32f),
new Vector2(0f, 51f),
new Vector2(-50f, -32f),
new Vector2(55f, -38f)
},
Body = link
};
robot.RegisterPath(track);
/* scene nodes */
MeshSceneNodePrefab gearNode1 = new MeshSceneNodePrefab
{
Name = "Gear1",
Mesh = "models/robo_wheel",
Material = "RobotMaterial",
};
MeshSceneNodePrefab gearNode2 = new MeshSceneNodePrefab
{
Name = "Gear2",
Mesh = "models/robo_wheel",
Material = "RobotMaterial",
};
MeshSceneNodePrefab gearNode3 = new MeshSceneNodePrefab
{
Name = "Gear3",
Mesh = "models/robo_wheel",
Material = "RobotMaterial",
};
robot.RegisterMeshSceneNode(gearNode1);
robot.RegisterMeshSceneNode(gearNode2);
robot.RegisterMeshSceneNode(gearNode3);
MeshSceneNodePrefab chassisNode = new MeshSceneNodePrefab
{
Name = "ChassisNode",
Mesh = "models/robo_body",
Material = "RobotMaterial",
};
robot.RegisterMeshSceneNode(chassisNode);
ArrayMeshSceneNodePrefab linkNode = new ArrayMeshSceneNodePrefab
{
Name = "Links",
Mesh = "models/robo_link",
Material = "RobotMaterial",
Path = "Track",
StartIndex = 0,
EndIndex = 28
};
robot.RegisterArrayMeshSceneNode(linkNode);
ControllerPrefab gear1Controller = new ControllerPrefab
{
Name = "Gear1BodyController",
Type = ControllerType.BodyController,
Body = "Gear1",
Transformable = "Gear1"
};
robot.RegisterController(gear1Controller);
ControllerPrefab gear2Controller = new ControllerPrefab
{
Name = "Gear2BodyController",
Type = ControllerType.BodyController,
Body = "Gear2",
Transformable = "Gear2"
};
robot.RegisterController(gear2Controller);
ControllerPrefab gear3Controller = new ControllerPrefab
{
Name = "Gear3BodyController",
Type = ControllerType.BodyController,
Body = "Gear3",
Transformable = "Gear3"
};
ControllerPrefab chassisController = new ControllerPrefab
{
Name = "ChassisController",
Type = ControllerType.BodyController,
Body = "Chassis",
Transformable = "ChassisNode"
};
robot.RegisterController(chassisController);
robot.RegisterController(gear3Controller);
return(robot);
}
