private Tumbler()
{
var ground = BodyFactory.CreateBody(World);
var body = BodyFactory.CreateBody(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(0.0f, 10.0f);
PolygonShape shape = new PolygonShape(5);
shape.SetAsBox(0.5f, 10.0f, new Vector2(10.0f, 0.0f), 0.0f);
body.CreateFixture(shape);
shape.SetAsBox(0.5f, 10.0f, new Vector2(-10.0f, 0.0f), 0.0f);
body.CreateFixture(shape);
shape.SetAsBox(10.0f, 0.5f, new Vector2(0.0f, 10.0f), 0.0f);
body.CreateFixture(shape);
shape.SetAsBox(10.0f, 0.5f, new Vector2(0.0f, -10.0f), 0.0f);
body.CreateFixture(shape);
var jd = new RevoluteJoint(ground, body, new Vector2(0.0f, 10.0f), new Vector2(0.0f, 0.0f));
jd.ReferenceAngle = 0.0f;
jd.MotorSpeed = 0.05f * MathHelper.Pi;
jd.MaxMotorTorque = 1e8f;
jd.MotorEnabled = true;
World.AddJoint(jd);
}
private OneSidedPlatformTest()
{
//Ground
BodyFactory.CreateEdge(World, new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
// Platform
{
Body body = BodyFactory.CreateBody(World);
body.Position = new Vector2(0.0f, 10.0f);
PolygonShape shape = new PolygonShape(1);
shape.SetAsBox(3.0f, 0.5f);
_platform = body.CreateFixture(shape);
_top = 10.0f + 0.5f;
}
// Actor
{
Body body = BodyFactory.CreateBody(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(0.0f, 12.0f);
_radius = 0.5f;
CircleShape shape = new CircleShape(_radius, 20);
_character = body.CreateFixture(shape);
body.LinearVelocity = new Vector2(0.0f, -50.0f);
}
}
private WheelJointTest()
{
Body ground = BodyFactory.CreateEdge(World, new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
{
PolygonShape shape = new PolygonShape(1);
shape.SetAsBox(0.5f, 2.0f);
Body body = new Body(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(0.0f, 7.0f);
body.CreateFixture(shape);
Vector2 axis = new Vector2(-1000.0f, -2.0f);
axis.Normalize();
WheelJoint jd = new WheelJoint(ground, body, new Vector2(0, 8.5f), axis);
jd.MotorSpeed = 1.0f;
jd.MaxMotorTorque = 1000.0f;
jd.MotorEnabled = true;
jd.SpringFrequencyHz = 1.0f;
jd.SpringDampingRatio = 0.2f;
World.AddJoint(jd);
PolygonShape shape2 = new PolygonShape(1);
shape2.SetAsBox(0.5f, 2.0f);
Body body2 = BodyFactory.CreatePolygon(World, shape2.Vertices, 0.5f);
body2.BodyType = BodyType.Dynamic;
body2.Position = new Vector2(10.0f, 7.0f);
}
}
public Key(Rectangle pos, Map map)
: base(map)
{
Body BodyDec = new Body(map.PhysicalWorld);
BodyDec.BodyType = BodyType.Static;
PolygonShape S = new PolygonShape(1f);
S.SetAsBox(pos.Width / 2, pos.Height / 2);
Fixture = BodyDec.CreateFixture(S);
Fixture.Restitution = 1f;
Fixture.Friction = 10f;
this.Position = pos;
SetName("Key");
LightingEngine LE = (LightingEngine)Renderer.GetRenderEffect("LightingEngine");
light = new PointLight()
{
IsEnabled = true,
Color = new Vector4(0.95f, .7f, .05f, 1f),
Power = power,
LightDecay = 350,
Position = new Vector3(Position.X, Position.Y, 20),
Direction = new Vector3(0,0, 0)
};
LE.AddLight(light);
}
protected Tank(
ISoundManager soundManager,
World world,
Collection<IDoodad> doodads,
Team team,
Vector2 position,
float rotation,
DoodadFactory doodadFactory)
{
this.soundManager = soundManager;
this.world = world;
this.doodadFactory = doodadFactory;
this.doodads = doodads;
this.body = BodyFactory.CreateBody(world, position, this);
this.body.Rotation = rotation;
this.body.BodyType = BodyType.Dynamic;
this.Team = team;
this.Heading = rotation;
this.activeMissiles = new List<Missile>();
this.powerup = PowerUpType.None;
var shape = new PolygonShape(0);
shape.SetAsBox(15 / Constants.PixelsPerMeter, 15 / Constants.PixelsPerMeter);
var fixture = this.body.CreateFixture(shape);
fixture.CollisionCategories = this.CollisionCategory;
fixture.CollidesWith = PhysicsConstants.MissileCategory;
if (this is PlayerControlledTank)
{
fixture.CollidesWith |= PhysicsConstants.ObstacleCategory | PhysicsConstants.PitCategory |
PhysicsConstants.SensorCategory;
}
}
private PulleysTest()
{
//Ground
FixtureFactory.CreateEdge(World, new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
{
const float a = 2.0f;
const float b = 4.0f;
const float y = 16.0f;
const float l = 12.0f;
PolygonShape shape = new PolygonShape(5);
shape.SetAsBox(a, b);
Body body1 = BodyFactory.CreateBody(World);
body1.BodyType = BodyType.Dynamic;
body1.Position = new Vector2(-10.0f, y);
body1.CreateFixture(shape);
Body body2 = BodyFactory.CreateBody(World);
body2.BodyType = BodyType.Dynamic;
body2.Position = new Vector2(10.0f, y);
body2.CreateFixture(shape);
Vector2 anchor1 = new Vector2(-10.0f, y + b);
Vector2 anchor2 = new Vector2(10.0f, y + b);
Vector2 groundAnchor1 = new Vector2(-10.0f, y + b + l);
Vector2 groundAnchor2 = new Vector2(10.0f, y + b + l);
_joint1 = new PulleyJoint(body1, body2, groundAnchor1, groundAnchor2, body1.GetLocalPoint(anchor1),
body2.GetLocalPoint(anchor2), 2.0f);
World.AddJoint(_joint1);
}
}
public RedAlarmLamp(Rectangle r, Map m)
: base(m)
{
Body BodyDec = new Body(m.PhysicalWorld);
BodyDec.BodyType = BodyType.Static;
PolygonShape S = new PolygonShape(1f);
S.SetAsBox(r.Width / 2, r.Height / 2);
Fixture = BodyDec.CreateFixture(S);
Fixture.Restitution = 1f;
Fixture.Friction = 10f;
Position = r;
SetName("RedAlarmLamp");
AlertLight = new SpotLight()
{
IsEnabled = true,
Color = new Vector4(0.9f, .1f, .1f, 1f),
Power = .6f,
LightDecay = 600,
Position = new Vector3(r.X, r.Y, 20),
SpotAngle = 1.5f,
SpotDecayExponent = 3,
Direction = new Vector3(0.244402379f, 0.969673932f, 0)
};
LightingEngine LE = (LightingEngine)Renderer.GetRenderEffect("LightingEngine");
LE.AddLight(AlertLight);
}
public Chest(Rectangle r,Map m)
: base(m)
{
Body BodyDec = new Body(m.PhysicalWorld);
BodyDec.BodyType = BodyType.Static;
PolygonShape S = new PolygonShape(1f);
S.SetAsBox(r.Width / 2, r.Height / 2);
Fixture = BodyDec.CreateFixture(S);
Fixture.Restitution = 1f;
Fixture.Friction = 10f;
Position = r;
SetName("Chest");
items = new List<Item>();
ChestWindow = new Window(GeneralManager.GetPartialRect(0.4f, 0.2f, 0.2f, 0.6f));
ChestWindow.BgTex = GeneralManager.Textures["GUI/InGameGUI/ChestMenuBg"];
ChestWindow.Visible = false;
CloseButton = new Button(new Rectangle(ChestWindow.Position.Width - 32, 8, 24, 24), "", GeneralManager.Textures["GUI/InGameGUI/CloseButton"], Color.Gray, Color.White, null);
CloseButton.Action = CloseChestWindow;
ChestWindow.AddGUI(CloseButton );
list = new ListBox(new Rectangle(16,16,ChestWindow.Position.Width - 24,ChestWindow.Position.Height - 32));
ChestWindow.AddGUI(list);
Map.Parent.AddGUI(ChestWindow);
}
private TilesTest()
{
Stopwatch timer = new Stopwatch();
timer.Start();
{
const float a = 0.5f;
Body ground = BodyFactory.CreateBody(World, new Vector2(0, -a));
const int N = 200;
const int M = 10;
Vector2 position = Vector2.Zero;
position.Y = 0.0f;
for (int j = 0; j < M; ++j)
{
position.X = -N * a;
for (int i = 0; i < N; ++i)
{
PolygonShape shape = new PolygonShape(0);
shape.SetAsBox(a, a, position, 0.0f);
Fixture fix = ground.CreateFixture(shape);
++_fixtureCount;
position.X += 2.0f * a;
}
position.Y -= 2.0f * a;
}
}
{
const float a = 0.5f;
Vertices box = PolygonTools.CreateRectangle(a, a);
PolygonShape shape = new PolygonShape(box, 5);
Vector2 x = new Vector2(-7.0f, 0.75f);
Vector2 deltaX = new Vector2(0.5625f, 1.25f);
Vector2 deltaY = new Vector2(1.125f, 0.0f);
for (int i = 0; i < Count; ++i)
{
Vector2 y = x;
for (int j = i; j < Count; ++j)
{
Body body = BodyFactory.CreateBody(World);
body.BodyType = BodyType.Dynamic;
body.Position = y;
body.CreateFixture(shape);
++_fixtureCount;
y += deltaY;
}
x += deltaX;
}
}
timer.Stop();
_createTime = timer.ElapsedMilliseconds;
}
public void createBlock(Vector2 _position)
{
//body = BodyFactory.CreateBody(Game1.world, _position + new Vector2(8/Game1.scale, 8/Game1.scale));
body = BodyFactory.CreateBody(Game1.world, _position + new Vector2(8.05f / Game1.scale, 8.05f / Game1.scale));
//body = BodyFactory.CreateBody(Game1.world, _position + new Vector2(16f / Game1.scale, 16f / Game1.scale));
PolygonShape shape = new PolygonShape(1f);
//shape.SetAsBox(8/Game1.scale, 8/Game1.scale);
shape.SetAsBox(8.05f / Game1.scale, 8.05f / Game1.scale);
//shape.SetAsBox(16f / Game1.scale, 16f / Game1.scale);
body.CreateFixture(shape);
}
public Pit(World world, Vector2 position, float rotation, Rectangle source)
{
this.world = world;
this.body = BodyFactory.CreateBody(world, position, this);
this.body.Rotation = rotation;
var shape = new PolygonShape(0);
shape.SetAsBox(16 / Constants.PixelsPerMeter, 16 / Constants.PixelsPerMeter);
var fixture = this.body.CreateFixture(shape);
fixture.CollisionCategories = PhysicsConstants.PitCategory;
this.source = source;
}
private TilesTest()
{
{
const float a = 0.5f;
Body ground = BodyFactory.CreateBody(World, new Vector2(0, -a));
const int n = 200;
const int m = 10;
Vector2 position = Vector2.Zero;
position.Y = 0.0f;
for (int j = 0; j < m; ++j)
{
position.X = -n * a;
for (int i = 0; i < n; ++i)
{
PolygonShape shape = new PolygonShape(0);
shape.SetAsBox(a, a, position, 0.0f);
ground.CreateFixture(shape);
position.X += 2.0f * a;
}
position.Y -= 2.0f * a;
}
}
{
const float a = 0.5f;
Vertices box = PolygonTools.CreateRectangle(a, a);
PolygonShape shape = new PolygonShape(box, 5);
Vector2 x = new Vector2(-7.0f, 0.75f);
Vector2 deltaX = new Vector2(0.5625f, 1.25f);
Vector2 deltaY = new Vector2(1.125f, 0.0f);
for (int i = 0; i < Count; ++i)
{
Vector2 y = x;
for (int j = i; j < Count; ++j)
{
Body body = BodyFactory.CreateBody(World);
body.BodyType = BodyType.Dynamic;
body.Position = y;
body.CreateFixture(shape);
y += deltaY;
}
x += deltaX;
}
}
}
private PrismaticTest()
{
Body ground;
{
ground = BodyFactory.CreateBody(World);
PolygonShape shape3 = new PolygonShape(0);
shape3.SetAsEdge(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
ground.CreateFixture(shape3);
}
PolygonShape shape = new PolygonShape(5);
shape.SetAsBox(2.0f, 0.5f);
Body body = BodyFactory.CreateBody(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(0.0f, 10.0f);
body.CreateFixture(shape);
_fixedJoint = new FixedPrismaticJoint(body, body.Position, new Vector2(0.5f, 1.0f));
_fixedJoint.MotorSpeed = 5.0f;
_fixedJoint.MaxMotorForce = 1000.0f;
_fixedJoint.MotorEnabled = true;
_fixedJoint.LowerLimit = -10.0f;
_fixedJoint.UpperLimit = 20.0f;
_fixedJoint.LimitEnabled = true;
World.AddJoint(_fixedJoint);
PolygonShape shape2 = new PolygonShape(5);
shape2.SetAsBox(2.0f, 0.5f);
Body body2 = BodyFactory.CreateBody(World);
body2.BodyType = BodyType.Dynamic;
body2.Position = new Vector2(10.0f, 10.0f);
body2.CreateFixture(shape2);
_joint = new PrismaticJoint(ground, body2, ground.GetLocalPoint(body2.Position), Vector2.Zero,
new Vector2(0.5f, 1.0f));
_joint.MotorSpeed = 5.0f;
_joint.MaxMotorForce = 1000.0f;
_joint.MotorEnabled = true;
_joint.LowerLimit = -10.0f;
_joint.UpperLimit = 20.0f;
_joint.LimitEnabled = true;
World.AddJoint(_joint);
}
public WindowController( World w, Vector2 r, Vector2 size, WindowSprite s )
{
_fsBody = w.NewBody();
_fsBody.Position = r;
PolygonShape shape = new PolygonShape(1.0f);
shape.SetAsBox(size.X * 2, size.Y * 2);
_fsFixture = _fsBody.CreateFixture(shape, this);
_fsFixture.IsSensor = true;
_fsFixture.OnCollision += BehaviorCollided;
sprite = s;
}
public Wheel(World world)
{
//_mGroundAreas = new List<WaterArea>();
Body = new Body(world) {BodyType = BodyType.Dynamic, IsSensor = true, UserData = this};
var shape = new PolygonShape(1);
shape.SetAsBox(ConvertUnits.ToMeters(0.03125f), ConvertUnits.ToMeters(0.125f));
var fixture = Body.CreateFixture(shape);
fixture.UserData = this;
Body.UserData = this;
_mCurrentTraction = 1;
_mCurrentDrag = 1;
}
public override void Update(GameSettings settings, GameTime gameTime)
{
base.Update(settings, gameTime);
if (m_Count < Count)
{
var body = BodyFactory.CreateBody(World, new Vector2(0.0f, 10.0f));
body.BodyType = BodyType.Dynamic;
PolygonShape shape = new PolygonShape(5);
shape.SetAsBox(0.125f, 0.125f);
body.CreateFixture(shape);
m_Count++;
}
}
public World(Vector2 gravity, float floorY)
{
// set up the world.
_fsWorld = new FsWorld(gravity);
// set up the ground.
_ground = new Body(_fsWorld);
_ground.BodyType = BodyType.Static;
_ground.Position = new Vector2 { X = 0.0f, Y = floorY - 10.0f };
PolygonShape groundShape = new PolygonShape(0.0f);
groundShape.SetAsBox(1000f, 10f);
_fsFixture = _ground.CreateFixture(groundShape, this);
_fsFixture.OnCollision += this.BehaviorCollided;
_fsFixture.Friction = 1.0f;
}
public DoorButton(Rectangle r, Map m)
: base(m)
{
Body BodyDec = new Body(m.PhysicalWorld);
BodyDec.BodyType = BodyType.Static;
PolygonShape S = new PolygonShape(1f);
S.SetAsBox(r.Width / 2, r.Height / 2);
Fixture = BodyDec.CreateFixture(S);
Fixture.Restitution = 1f;
Fixture.Friction = 10f;
Position = r;
SetName("DoorButton");
}
public DoorController(World w, Vector2 r, Vector2 size, DoorSprite s)
{
_fsBody = w.NewBody();
_fsBody.Position = r;
PolygonShape shape = new PolygonShape(1.0f);
shape.SetAsBox(size.X, size.Y);
_fsFixture = _fsBody.CreateFixture(shape, this);
_fsFixture.IsSensor = true;
_fsFixture.OnCollision += PhysicsCollided;
_fsFixture.OnSeparation += PhysicsSeparated;
_fsFixture.OnCollision += BehaviorCollided;
sprite = s;
}
public Wall(World w, float x, float sgn)
{
_world = w;
Stickiness = 70;
UpwardSpeedLimit = 5.0f;
Vector2 center = new Vector2 { X = x - (10.0f * sgn), Y = 500.0f };
_fsBody = w.NewBody();
_fsBody.BodyType = BodyType.Static;
_fsBody.Position = center;
PolygonShape wallShape = new PolygonShape(0);
wallShape.SetAsBox(10f, 1000f);
_fsFixture = _fsBody.CreateFixture(wallShape, this);
_fsFixture.OnCollision += BehaviorCollided;
_fsFixture.AfterCollision += PhysicsPostSolve;
_fsFixture.IsSensor = true;
}
protected override void Initialize()
{
_world = new World(new Vector2(0, 9.8f));
_debugView = new DebugViewXNA(_world);
_debugView.AppendFlags(FarseerPhysics.DebugViewFlags.Shape);
_debugView.DefaultShapeColor = Color.White;
_debugView.SleepingShapeColor = Color.LightGray;
_debugView.LoadContent(GraphicsDevice, Content);
base.Initialize();
_fluidSimulation = new FluidSimulation(_world, _spriteBatch, _debugFont);
_projection = Matrix.CreateOrthographic(GraphicsDevice.Viewport.Width, GraphicsDevice.Viewport.Height, 0, 1);
_view = Matrix.CreateScale(new Vector3(SCALE, -SCALE, 1));
// Create test geometry
Body bottomBody = BodyFactory.CreateBody(_world, new Vector2(0, 7f));
PolygonShape bottomShape = new PolygonShape(1f);
bottomShape.SetAsBox(12f, 1f);
bottomBody.CreateFixture(bottomShape);
Body leftBody = BodyFactory.CreateBody(_world, new Vector2(-11f, 0f));
PolygonShape leftShape = new PolygonShape(1f);
leftShape.SetAsBox(1f, 10f);
leftBody.CreateFixture(leftShape);
Body rightBody = BodyFactory.CreateBody(_world, new Vector2(11f, 0f));
PolygonShape rightShape = new PolygonShape(1f);
rightShape.SetAsBox(1f, 10f);
rightBody.CreateFixture(rightShape);
Body rampBody = BodyFactory.CreateBody(_world, new Vector2(6f, -2f));
PolygonShape rampShape = new PolygonShape(1f);
rampShape.SetAsBox(5.5f, 0.5f);
rampBody.CreateFixture(rampShape);
rampBody.Rotation = -0.25f;
Body circleBody = BodyFactory.CreateBody(_world, new Vector2(0, -0.2f));
CircleShape circleShape = new CircleShape(2f, 1f);
circleBody.CreateFixture(circleShape);
}
private ExplosionTest()
{
//Ground
FixtureFactory.CreateEdge(World, new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
float[] xs = new[] {-10.0f, -5.0f, 0.0f, 5.0f, 10.0f};
for (int j = 0; j < ColumnCount; ++j)
{
PolygonShape shape = new PolygonShape(1);
shape.SetAsBox(0.5f, 0.5f);
for (int i = 0; i < RowCount; ++i)
{
int n = j*RowCount + i;
Debug.Assert(n < RowCount*ColumnCount);
_indices[n] = n;
const float x = 0.0f;
Body body = BodyFactory.CreateBody(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(xs[j] + x, 0.752f + 1.54f*i);
body.UserData = _indices[n];
_bodies[n] = body;
Fixture fixture = body.CreateFixture(shape);
fixture.Friction = 0.3f;
//First column is unaffected by the explosion
if (j == 0)
{
body.PhysicsLogicFilter.IgnorePhysicsLogic(PhysicsLogicType.Explosion);
}
}
}
_radius = 5;
_power = 3;
_explosion = new Explosion(World);
}
private VerticalStackTest()
{
//Ground
FixtureFactory.CreateEdge(World, new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
FixtureFactory.CreateEdge(World, new Vector2(20.0f, 0.0f), new Vector2(20.0f, 20.0f));
float[] xs = new[] {0.0f, -10.0f, -5.0f, 5.0f, 10.0f};
for (int j = 0; j < ColumnCount; ++j)
{
PolygonShape shape = new PolygonShape(1);
shape.SetAsBox(0.5f, 0.5f);
for (int i = 0; i < RowCount; ++i)
{
int n = j*RowCount + i;
Debug.Assert(n < RowCount*ColumnCount);
_indices[n] = n;
const float x = 0.0f;
//float x = Rand.RandomFloat-0.02f, 0.02f);
//float x = i % 2 == 0 ? -0.025f : 0.025f;
Body body = BodyFactory.CreateBody(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(xs[j] + x, 0.752f + 1.54f*i);
body.UserData = _indices[n];
_bodies[n] = body;
Fixture fixture = body.CreateFixture(shape);
fixture.Friction = 0.3f;
}
}
_bullet = null;
}
private CharacterCollisionTest()
{
//Ground body
Body ground = BodyFactory.CreateEdge(World, new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
// Collinear edges
EdgeShape shape = new EdgeShape(new Vector2(-8.0f, 1.0f), new Vector2(-6.0f, 1.0f));
ground.CreateFixture(shape);
shape = new EdgeShape(new Vector2(-6.0f, 1.0f), new Vector2(-4.0f, 1.0f));
ground.CreateFixture(shape);
shape = new EdgeShape(new Vector2(-4.0f, 1.0f), new Vector2(-2.0f, 1.0f));
ground.CreateFixture(shape);
// Square tiles
PolygonShape tile = new PolygonShape(1);
tile.SetAsBox(1.0f, 1.0f, new Vector2(4.0f, 3.0f), 0.0f);
ground.CreateFixture(tile);
tile.SetAsBox(1.0f, 1.0f, new Vector2(6.0f, 3.0f), 0.0f);
ground.CreateFixture(tile);
tile.SetAsBox(1.0f, 1.0f, new Vector2(8.0f, 3.0f), 0.0f);
ground.CreateFixture(tile);
// Square made from an edge loop.
Vertices vertices = new Vertices(4);
vertices.Add(new Vector2(-1.0f, 3.0f));
vertices.Add(new Vector2(1.0f, 3.0f));
vertices.Add(new Vector2(1.0f, 5.0f));
vertices.Add(new Vector2(-1.0f, 5.0f));
LoopShape loopShape = new LoopShape(vertices);
ground.CreateFixture(loopShape);
// Edge loop.
vertices = new Vertices(10);
vertices.Add(new Vector2(0.0f, 0.0f));
vertices.Add(new Vector2(6.0f, 0.0f));
vertices.Add(new Vector2(6.0f, 2.0f));
vertices.Add(new Vector2(4.0f, 1.0f));
vertices.Add(new Vector2(2.0f, 2.0f));
vertices.Add(new Vector2(-2.0f, 2.0f));
vertices.Add(new Vector2(-4.0f, 3.0f));
vertices.Add(new Vector2(-6.0f, 2.0f));
vertices.Add(new Vector2(-6.0f, 0.0f));
BodyFactory.CreateLoopShape(World, vertices, new Vector2(-10, 4));
// Square character
Body squareCharacter = BodyFactory.CreateRectangle(World, 1, 1, 20);
squareCharacter.Position = new Vector2(-3.0f, 5.0f);
squareCharacter.BodyType = BodyType.Dynamic;
squareCharacter.FixedRotation = true;
squareCharacter.SleepingAllowed = false;
squareCharacter.OnCollision += CharacterOnCollision;
squareCharacter.OnSeparation += CharacterOnSeparation;
// Square character 2
Body squareCharacter2 = BodyFactory.CreateRectangle(World, 0.5f, 0.5f, 20);
squareCharacter2.Position = new Vector2(-5.0f, 5.0f);
squareCharacter2.BodyType = BodyType.Dynamic;
squareCharacter2.FixedRotation = true;
squareCharacter2.SleepingAllowed = false;
// Hexagon character
float angle = 0.0f;
const float delta = Settings.Pi / 3.0f;
vertices = new Vertices(6);
for (int i = 0; i < 6; ++i)
{
vertices.Add(new Vector2(0.5f * (float)Math.Cos(angle), 0.5f * (float)Math.Sin(angle)));
angle += delta;
}
Body hexCharacter = BodyFactory.CreatePolygon(World, vertices, 20);
hexCharacter.Position = new Vector2(-5.0f, 8.0f);
hexCharacter.BodyType = BodyType.Dynamic;
hexCharacter.FixedRotation = true;
hexCharacter.SleepingAllowed = false;
// Circle character
Body circleCharacter = BodyFactory.CreateCircle(World, 0.5f, 20);
circleCharacter.Position = new Vector2(3.0f, 5.0f);
circleCharacter.BodyType = BodyType.Dynamic;
circleCharacter.FixedRotation = true;
circleCharacter.SleepingAllowed = false;
}
public TheoJansenWalker(World world, PhysicsGameScreen screen, Vector2 position)
{
_position = position;
_motorSpeed = 2.0f;
_motorOn = true;
_screen = screen;
_walkerJoints = new List<DistanceJoint>();
_leftShoulders = new Body[3];
_rightShoulders = new Body[3];
_leftLegs = new Body[3];
_rightLegs = new Body[3];
Vector2 pivot = new Vector2(0f, -0.8f);
// Chassis
{
PolygonShape shape = new PolygonShape(1f);
shape.SetAsBox(2.5f, 1.0f);
_body =
new Sprite(_screen.ScreenManager.Assets.TextureFromShape(shape, MaterialType.Blank,
Color.Beige, 1f));
_chassis = BodyFactory.CreateBody(world);
_chassis.BodyType = BodyType.Dynamic;
_chassis.Position = pivot + _position;
Fixture fixture = _chassis.CreateFixture(shape);
fixture.CollisionGroup = -1;
}
{
CircleShape shape = new CircleShape(1.6f, 1f);
_engine =
new Sprite(_screen.ScreenManager.Assets.TextureFromShape(shape, MaterialType.Waves,
Color.Beige * 0.8f, 1f));
_wheel = BodyFactory.CreateBody(world);
_wheel.BodyType = BodyType.Dynamic;
_wheel.Position = pivot + _position;
Fixture fixture = _wheel.CreateFixture(shape);
fixture.CollisionGroup = -1;
}
{
_motorJoint = new RevoluteJoint(_wheel, _chassis, _wheel.GetLocalPoint(_chassis.Position), Vector2.Zero);
_motorJoint.CollideConnected = false;
_motorJoint.MotorSpeed = _motorSpeed;
_motorJoint.MaxMotorTorque = 400f;
_motorJoint.MotorEnabled = _motorOn;
world.AddJoint(_motorJoint);
}
Vector2 wheelAnchor = pivot + new Vector2(0f, 0.8f);
CreateLegTextures();
CreateLeg(world, -1f, wheelAnchor, 0);
CreateLeg(world, 1f, wheelAnchor, 0);
_leftLeg.Origin = AssetCreator.CalculateOrigin(_leftLegs[0]);
_leftShoulder.Origin = AssetCreator.CalculateOrigin(_leftShoulders[0]);
_rightLeg.Origin = AssetCreator.CalculateOrigin(_rightLegs[0]);
_rightShoulder.Origin = AssetCreator.CalculateOrigin(_rightShoulders[0]);
_wheel.SetTransform(_wheel.Position, 120f * Settings.Pi / 180f);
CreateLeg(world, -1f, wheelAnchor, 1);
CreateLeg(world, 1f, wheelAnchor, 1);
_wheel.SetTransform(_wheel.Position, -120f * Settings.Pi / 180f);
CreateLeg(world, -1f, wheelAnchor, 2);
CreateLeg(world, 1f, wheelAnchor, 2);
}
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;
#if WINDOWS_PHONE
_scale = 2f / 3f;
#else
_scale = 1f;
#endif
// 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 bool checkObstacle(float size, Vector2 pos, float orientation)
{
PolygonShape shape = new PolygonShape(1f);
shape.SetAsBox(size, size);
Transform xform = new Transform();
xform.Set(pos, orientation);
foreach (Obstacle obs in Obstacles)
{
Body obsBody = obs.Body;
Transform obstXform;
obsBody.GetTransform(out obstXform);
if (obsBody.FixtureList != null && AABB.TestOverlap(shape, 0, obsBody.FixtureList[0].Shape, 0, ref xform, ref obstXform))
return false;
}
return 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 WheelJoint(_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 WheelJoint(_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);
}
}
private void MakeDeadFixture()
{
if (_fsFixture != null)
{
_fsBody.DestroyFixture(_fsFixture);
}
PolygonShape shape = new PolygonShape(1.0f);
shape.SetAsBox(1.0f, 1.0f);
_fsFixture = _fsBody.CreateFixture(_fsShape, this);
_fsFixture.Restitution = 0.2f;
_fsFixture.OnCollision += BehaviorCollided;
}
private CollisionFilteringTest()
{
//Ground
BodyFactory.CreateEdge(World, new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
{
// Small triangle
Vertices vertices = new Vertices(3);
vertices.Add(new Vector2(-1.0f, 0.0f));
vertices.Add(new Vector2(1.0f, 0.0f));
vertices.Add(new Vector2(0.0f, 2.0f));
PolygonShape polygon = new PolygonShape(vertices, 1);
Body triangleBody = BodyFactory.CreateBody(World);
triangleBody.BodyType = BodyType.Dynamic;
triangleBody.Position = new Vector2(-5.0f, 2.0f);
Fixture triangleFixture = triangleBody.CreateFixture(polygon);
triangleFixture.CollisionGroup = SmallGroup;
triangleFixture.CollisionCategories = TriangleCategory;
triangleFixture.CollidesWith = TriangleMask;
// Large triangle (recycle definitions)
vertices[0] *= 2.0f;
vertices[1] *= 2.0f;
vertices[2] *= 2.0f;
polygon.Set(vertices);
Body triangleBody2 = BodyFactory.CreateBody(World);
triangleBody2.BodyType = BodyType.Dynamic;
triangleBody2.Position = new Vector2(-5.0f, 6.0f);
triangleBody2.FixedRotation = true; // look at me!
Fixture triangleFixture2 = triangleBody2.CreateFixture(polygon);
triangleFixture2.CollisionGroup = LargeGroup;
triangleFixture2.CollisionCategories = TriangleCategory;
triangleFixture2.CollidesWith = TriangleMask;
{
Body body = BodyFactory.CreateBody(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(-5.0f, 10.0f);
Vertices box = PolygonTools.CreateRectangle(0.5f, 1.0f);
PolygonShape p = new PolygonShape(box, 1);
body.CreateFixture(p);
PrismaticJoint jd = new PrismaticJoint(triangleBody2, body,
triangleBody2.GetLocalPoint(body.Position),
Vector2.Zero, new Vector2(0.0f, 1.0f));
jd.LimitEnabled = true;
jd.LowerLimit = -1.0f;
jd.UpperLimit = 1.0f;
World.AddJoint(jd);
}
// Small box
polygon.SetAsBox(1.0f, 0.5f);
Body boxBody = BodyFactory.CreateBody(World);
boxBody.BodyType = BodyType.Dynamic;
boxBody.Position = new Vector2(0.0f, 2.0f);
Fixture boxFixture = boxBody.CreateFixture(polygon);
boxFixture.Restitution = 0.1f;
boxFixture.CollisionGroup = SmallGroup;
boxFixture.CollisionCategories = BoxCategory;
boxFixture.CollidesWith = BoxMask;
// Large box (recycle definitions)
polygon.SetAsBox(2, 1);
Body boxBody2 = BodyFactory.CreateBody(World);
boxBody2.BodyType = BodyType.Dynamic;
boxBody2.Position = new Vector2(0.0f, 6.0f);
Fixture boxFixture2 = boxBody2.CreateFixture(polygon);
boxFixture2.CollisionGroup = LargeGroup;
boxFixture2.CollisionCategories = BoxCategory;
boxFixture2.CollidesWith = BoxMask;
// Small circle
CircleShape circle = new CircleShape(1.0f, 1);
Body circleBody = BodyFactory.CreateBody(World);
circleBody.BodyType = BodyType.Dynamic;
circleBody.Position = new Vector2(5.0f, 2.0f);
Fixture circleFixture = circleBody.CreateFixture(circle);
circleFixture.CollisionGroup = SmallGroup;
circleFixture.CollisionCategories = CircleCategory;
circleFixture.CollidesWith = CircleMask;
// Large circle
circle.Radius *= 2.0f;
Body circleBody2 = BodyFactory.CreateBody(World);
circleBody2.BodyType = BodyType.Dynamic;
circleBody2.Position = new Vector2(5.0f, 6.0f);
Fixture circleFixture2 = circleBody2.CreateFixture(circle);
circleFixture2.CollisionGroup = LargeGroup;
circleFixture2.CollisionCategories = CircleCategory;
circleFixture2.CollidesWith = CircleMask;
// Large circle - Ignore with other large circle
Body circleBody3 = BodyFactory.CreateBody(World);
circleBody3.BodyType = BodyType.Dynamic;
circleBody3.Position = new Vector2(6.0f, 9.0f);
//Another large circle. This one uses IgnoreCollisionWith() logic instead of categories.
Fixture circleFixture3 = circleBody3.CreateFixture(circle);
circleFixture3.CollisionGroup = LargeGroup;
circleFixture3.CollisionCategories = CircleCategory;
circleFixture3.CollidesWith = CircleMask;
circleFixture3.IgnoreCollisionWith(circleFixture2);
}
}
