public AngleJoint CreateAngleJoint(Body body1, Body body2, float softness, float biasFactor)
{
AngleJoint angleJoint = new AngleJoint(body1, body2);
angleJoint.Softness = softness;
angleJoint.BiasFactor = biasFactor;
return angleJoint;
}
public void Load(SimulatorView view, PhysicsSimulator physicsSimulator)
{
//Load bodies
_spiderBody = BodyFactory.Instance.CreateCircleBody(physicsSimulator, _spiderBodyRadius, 1);
_spiderBody.Position = _position;
_spiderBody.IsStatic = false;
view.AddCircleToCanvas(_spiderBody, _spiderBodyRadius);
_leftUpperLegBody = BodyFactory.Instance.CreateRectangleBody(physicsSimulator, _upperLegSize.X,
_upperLegSize.Y,
1);
_leftUpperLegBody.Position = _spiderBody.Position - new Vector2(_spiderBodyRadius, 0) -
new Vector2(_upperLegSize.X/2, 0);
view.AddRectangleToCanvas(_leftUpperLegBody, Colors.White, new Vector2(_upperLegSize.X, _upperLegSize.Y));
_leftLowerLegBody = BodyFactory.Instance.CreateRectangleBody(physicsSimulator, _lowerLegSize.X,
_lowerLegSize.Y,
1);
_leftLowerLegBody.Position = _spiderBody.Position - new Vector2(_spiderBodyRadius, 0) -
new Vector2(_upperLegSize.X, 0) - new Vector2(_lowerLegSize.X/2, 0);
view.AddRectangleToCanvas(_leftLowerLegBody, Colors.Red, new Vector2(_lowerLegSize.X, _lowerLegSize.Y));
_rightUpperLegBody = BodyFactory.Instance.CreateRectangleBody(physicsSimulator, _upperLegSize.X,
_upperLegSize.Y, 1);
_rightUpperLegBody.Position = _spiderBody.Position + new Vector2(_spiderBodyRadius, 0) +
new Vector2(_upperLegSize.X/2, 0);
view.AddRectangleToCanvas(_rightUpperLegBody, Colors.White, new Vector2(_upperLegSize.X, _upperLegSize.Y));
_rightLowerLegBody = BodyFactory.Instance.CreateRectangleBody(physicsSimulator, _lowerLegSize.X,
_lowerLegSize.Y, 1);
_rightLowerLegBody.Position = _spiderBody.Position + new Vector2(_spiderBodyRadius, 0) +
new Vector2(_upperLegSize.X, 0) + new Vector2(_lowerLegSize.X/2, 0);
view.AddRectangleToCanvas(_rightLowerLegBody, Colors.Red, new Vector2(_lowerLegSize.X, _lowerLegSize.Y));
//load geometries
_spiderGeom = GeomFactory.Instance.CreateCircleGeom(physicsSimulator, _spiderBody, _spiderBodyRadius, 14);
_leftUpperLegGeom = GeomFactory.Instance.CreateRectangleGeom(physicsSimulator, _leftUpperLegBody,
_upperLegSize.X, _upperLegSize.Y);
_leftLowerLegGeom = GeomFactory.Instance.CreateRectangleGeom(physicsSimulator, _leftLowerLegBody,
_lowerLegSize.X, _lowerLegSize.Y);
_rightUpperLegGeom = GeomFactory.Instance.CreateRectangleGeom(physicsSimulator, _rightUpperLegBody,
_upperLegSize.X, _upperLegSize.Y);
_rightLowerLegGeom = GeomFactory.Instance.CreateRectangleGeom(physicsSimulator, _rightLowerLegBody,
_lowerLegSize.X, _lowerLegSize.Y);
_spiderGeom.CollisionGroup = _collisionGroup;
_leftUpperLegGeom.CollisionGroup = _collisionGroup;
_leftLowerLegGeom.CollisionGroup = _collisionGroup;
_rightUpperLegGeom.CollisionGroup = _collisionGroup;
_rightLowerLegGeom.CollisionGroup = _collisionGroup;
//load joints
JointFactory.Instance.CreateRevoluteJoint(physicsSimulator, _spiderBody,
_leftUpperLegBody,
_spiderBody.Position -
new Vector2(_spiderBodyRadius, 0));
_leftShoulderAngleJoint = JointFactory.Instance.CreateAngleJoint(physicsSimulator, _spiderBody,
_leftUpperLegBody);
_leftShoulderAngleJoint.TargetAngle = -.4f;
_leftShoulderAngleJoint.MaxImpulse = 300;
JointFactory.Instance.CreateRevoluteJoint(physicsSimulator, _spiderBody,
_rightUpperLegBody,
_spiderBody.Position +
new Vector2(_spiderBodyRadius, 0));
_rightShoulderAngleJoint = JointFactory.Instance.CreateAngleJoint(physicsSimulator, _spiderBody,
_rightUpperLegBody);
_rightShoulderAngleJoint.TargetAngle = .4f;
_leftShoulderAngleJoint.MaxImpulse = 300;
JointFactory.Instance.CreateRevoluteJoint(physicsSimulator, _leftUpperLegBody,
_leftLowerLegBody,
_spiderBody.Position -
new Vector2(_spiderBodyRadius, 0) -
new Vector2(_upperLegSize.X, 0));
_leftKneeAngleJoint = JointFactory.Instance.CreateAngleJoint(physicsSimulator, _leftUpperLegBody,
_leftLowerLegBody);
_leftKneeAngleJoint.TargetAngle = -_kneeTargetAngle;
_leftKneeAngleJoint.MaxImpulse = 300;
JointFactory.Instance.CreateRevoluteJoint(physicsSimulator, _rightUpperLegBody,
_rightLowerLegBody,
_spiderBody.Position +
new Vector2(_spiderBodyRadius, 0) +
new Vector2(_upperLegSize.X, 0));
_rightKneeAngleJoint = JointFactory.Instance.CreateAngleJoint(physicsSimulator, _rightUpperLegBody,
_rightLowerLegBody);
_rightKneeAngleJoint.TargetAngle = _kneeTargetAngle;
_rightKneeAngleJoint.MaxImpulse = 300;
}
public void Load(GraphicsDevice graphicsDevice, PhysicsSimulator physicsSimulator)
{
_spiderTexture = DrawingHelper.CreateCircleTexture(graphicsDevice, spiderBodyRadius, Color.White,
Color.Black);
_spiderOrigin = new Vector2(_spiderTexture.Width/2f, _spiderTexture.Height/2f);
_upperLegTexture = DrawingHelper.CreateRectangleTexture(graphicsDevice, (int) _upperLegSize.X,
(int) _upperLegSize.Y, Color.White, Color.Black);
_upperLegOrigin = new Vector2(_upperLegTexture.Width/2f, _upperLegTexture.Height/2f);
_lowerLegTexture = DrawingHelper.CreateRectangleTexture(graphicsDevice, (int) _lowerLegSize.X,
(int) _lowerLegSize.Y, Color.Red, Color.Black);
_lowerLegOrigin = new Vector2(_lowerLegTexture.Width/2f, _lowerLegTexture.Height/2f);
//Load bodies
Body = BodyFactory.Instance.CreateCircleBody(physicsSimulator, spiderBodyRadius, 1);
Body.Position = _position;
Body.IsStatic = false;
_leftUpperLegBody = BodyFactory.Instance.CreateRectangleBody(physicsSimulator, _upperLegSize.X,
_upperLegSize.Y,
1);
_leftUpperLegBody.Position = Body.Position - new Vector2(spiderBodyRadius, 0) -
new Vector2(_upperLegSize.X/2, 0);
_leftLowerLegBody = BodyFactory.Instance.CreateRectangleBody(physicsSimulator, _lowerLegSize.X,
_lowerLegSize.Y,
1);
_leftLowerLegBody.Position = Body.Position - new Vector2(spiderBodyRadius, 0) -
new Vector2(_upperLegSize.X, 0) - new Vector2(_lowerLegSize.X/2, 0);
_rightUpperLegBody = BodyFactory.Instance.CreateRectangleBody(physicsSimulator, _upperLegSize.X,
_upperLegSize.Y, 1);
_rightUpperLegBody.Position = Body.Position + new Vector2(spiderBodyRadius, 0) +
new Vector2(_upperLegSize.X/2, 0);
_rightLowerLegBody = BodyFactory.Instance.CreateRectangleBody(physicsSimulator, _lowerLegSize.X,
_lowerLegSize.Y, 1);
_rightLowerLegBody.Position = Body.Position + new Vector2(spiderBodyRadius, 0) +
new Vector2(_upperLegSize.X, 0) + new Vector2(_lowerLegSize.X/2, 0);
//load geometries
_spiderGeom = GeomFactory.Instance.CreateCircleGeom(physicsSimulator, Body, spiderBodyRadius, 14);
_leftUpperLegGeom = GeomFactory.Instance.CreateRectangleGeom(physicsSimulator, _leftUpperLegBody,
_upperLegSize.X, _upperLegSize.Y);
_leftLowerLegGeom = GeomFactory.Instance.CreateRectangleGeom(physicsSimulator, _leftLowerLegBody,
_lowerLegSize.X, _lowerLegSize.Y);
_rightUpperLegGeom = GeomFactory.Instance.CreateRectangleGeom(physicsSimulator, _rightUpperLegBody,
_upperLegSize.X, _upperLegSize.Y);
_rightLowerLegGeom = GeomFactory.Instance.CreateRectangleGeom(physicsSimulator, _rightLowerLegBody,
_lowerLegSize.X, _lowerLegSize.Y);
_spiderGeom.CollisionGroup = CollisionGroup;
_leftUpperLegGeom.CollisionGroup = CollisionGroup;
_leftLowerLegGeom.CollisionGroup = CollisionGroup;
_rightUpperLegGeom.CollisionGroup = CollisionGroup;
_rightLowerLegGeom.CollisionGroup = CollisionGroup;
//load joints
JointFactory.Instance.CreateRevoluteJoint(physicsSimulator, Body,
_leftUpperLegBody,
Body.Position -
new Vector2(spiderBodyRadius, 0));
_leftShoulderAngleJoint = JointFactory.Instance.CreateAngleJoint(physicsSimulator, Body,
_leftUpperLegBody);
_leftShoulderAngleJoint.TargetAngle = -.4f;
_leftShoulderAngleJoint.MaxImpulse = 300;
JointFactory.Instance.CreateRevoluteJoint(physicsSimulator, Body,
_rightUpperLegBody,
Body.Position +
new Vector2(spiderBodyRadius, 0));
_rightShoulderAngleJoint = JointFactory.Instance.CreateAngleJoint(physicsSimulator, Body,
_rightUpperLegBody);
_rightShoulderAngleJoint.TargetAngle = .4f;
_leftShoulderAngleJoint.MaxImpulse = 300;
JointFactory.Instance.CreateRevoluteJoint(physicsSimulator, _leftUpperLegBody,
_leftLowerLegBody,
Body.Position -
new Vector2(spiderBodyRadius, 0) -
new Vector2(_upperLegSize.X, 0));
_leftKneeAngleJoint = JointFactory.Instance.CreateAngleJoint(physicsSimulator, _leftUpperLegBody,
_leftLowerLegBody);
_leftKneeAngleJoint.TargetAngle = -_kneeTargetAngle;
_leftKneeAngleJoint.MaxImpulse = 300;
JointFactory.Instance.CreateRevoluteJoint(physicsSimulator, _rightUpperLegBody,
_rightLowerLegBody,
Body.Position +
new Vector2(spiderBodyRadius, 0) +
new Vector2(_upperLegSize.X, 0));
_rightKneeAngleJoint = JointFactory.Instance.CreateAngleJoint(physicsSimulator, _rightUpperLegBody,
_rightLowerLegBody);
_rightKneeAngleJoint.TargetAngle = _kneeTargetAngle;
_rightKneeAngleJoint.MaxImpulse = 300;
}
public AngleJoint CreateAngleJoint(Body body1, Body body2)
{
AngleJoint angleJoint = new AngleJoint(body1, body2);
return angleJoint;
}