/// <summary>
/// 車の生成
/// </summary>
private void CreateCar()
{
// 車体
_carBody = new ODE.Object.Box(
_world, _space,
STARTX, STARTY, STARTZ,
0.0f, 0.0f, 0.0f,
0.0f,
0.0f, 0.0f, 0.0f,
0.0f, 0.0f, 0.0f,
9.0f,
WIDTH, LENGTH, HEIGHT
);
// URG
_urg = new ODE.Object.Box(
_world, _space,
STARTX, STARTY + LENGTH / 2 - 0.1f, STARTZ + HEIGHT / 2 + 0.05f,
0.0f, 0.0f, 0.0f,
0.0f,
STARTX, STARTY + LENGTH / 2 - 0.1f, STARTZ + HEIGHT / 2 + 0.05f,
1.0f, 0.0f, 0.0f,
0.1f,
0.1f, 0.1f, 0.1f
);
_urg.CreateJoint(Ode.JointType.Hinge, _carBody);
// 後左輪
_wheel[0] = new ODE.Object.Cylinder(
_world, _space,
STARTX - WIDTH / 2 - THICKNESS_REAR / 2, STARTY - LENGTH / 2, RADIUS_REAR,
0.0f, 1.0f, 0.0f,
Ode.PI / 2,
STARTX + WIDTH / 2 + THICKNESS_REAR / 2, STARTY - LENGTH / 2, RADIUS_REAR,
1.0f, 0.0f, 0.0f,
0.2f,
RADIUS_REAR,
THICKNESS_REAR
);
// 後右輪
_wheel[1] = new ODE.Object.Cylinder(
_world, _space,
STARTX + WIDTH / 2 + THICKNESS_REAR / 2, STARTY - LENGTH / 2, RADIUS_REAR,
0.0f, 1.0f, 0.0f,
Ode.PI / 2,
STARTX - WIDTH / 2 - THICKNESS_REAR / 2, STARTY - LENGTH / 2, RADIUS_REAR,
1.0f, 0.0f, 0.0f,
0.2f,
RADIUS_REAR,
THICKNESS_REAR
);
// 前左輪
_wheel[2] = new ODE.Object.Cylinder(
_world, _space,
STARTX - WIDTH / 2 - THICKNESS_FRONT / 2, STARTY + LENGTH / 2, RADIUS_FRONT,
0.0f, 1.0f, 0.0f,
Ode.PI / 2,
STARTX - WIDTH / 2 - THICKNESS_FRONT / 2, STARTY + LENGTH / 2, RADIUS_FRONT,
1.0f, 0.0f, 0.0f,
0.2f,
RADIUS_FRONT,
THICKNESS_FRONT
);
// 全右輪
_wheel[3] = new ODE.Object.Cylinder(
_world, _space,
STARTX + WIDTH / 2 + THICKNESS_FRONT / 2, STARTY + LENGTH / 2, RADIUS_FRONT,
0.0f, 1.0f, 0.0f,
Ode.PI / 2,
STARTX + WIDTH / 2 + THICKNESS_FRONT / 2, STARTY + LENGTH / 2, RADIUS_FRONT,
1.0f, 0.0f, 0.0f,
0.2f,
RADIUS_FRONT,
THICKNESS_FRONT
);
_wheel[0].CreateJoint(Ode.JointType.Hinge, _carBody);
_wheel[1].CreateJoint(Ode.JointType.Hinge, _carBody);
_wheel[2].CreateJoint(Ode.JointType.Hinge, _carBody);
_wheel[3].CreateJoint(Ode.JointType.Hinge, _carBody);
//// URG
//_urg = new ODE.Object.Box(
// _world, _space,
// 0.0f, LENGTH / 2 - 0.1f, STARTZ + HEIGHT / 2 + 0.05f,
// 0.0f, 0.0f, 0.0f,
// 0.0f,
// 0.0f, LENGTH / 2 - 0.1f, STARTZ + HEIGHT / 2 + 0.05f,
// 1.0f, 0.0f, 0.0f,
// 0.1f,
// 0.1f, 0.1f, 0.1f
//);
//_urg.CreateJoint(Ode.JointType.Hinge, _carBody);
//// 後左輪
//_wheel[0] = new ODE.Object.Cylinder(
// _world, _space,
// -WIDTH / 2 - THICKNESS_REAR / 2, -LENGTH / 2, RADIUS_REAR,
// 0.0f, 1.0f, 0.0f,
// Ode.PI / 2,
// WIDTH / 2 + THICKNESS_REAR / 2, -LENGTH / 2, RADIUS_REAR,
// 1.0f, 0.0f, 0.0f,
// 0.2f,
// RADIUS_REAR,
// THICKNESS_REAR
//);
//// 後右輪
//_wheel[1] = new ODE.Object.Cylinder(
// _world, _space,
// WIDTH / 2 + THICKNESS_REAR / 2, -LENGTH / 2, RADIUS_REAR,
// 0.0f, 1.0f, 0.0f,
// Ode.PI / 2,
// -WIDTH / 2 - THICKNESS_REAR / 2, -LENGTH / 2, RADIUS_REAR,
// 1.0f, 0.0f, 0.0f,
// 0.2f,
// RADIUS_REAR,
// THICKNESS_REAR
//);
//// 前左輪
//_wheel[2] = new ODE.Object.Cylinder(
// _world, _space,
// -WIDTH / 2 - THICKNESS_FRONT / 2, LENGTH / 2, RADIUS_FRONT,
// 0.0f, 1.0f, 0.0f,
// Ode.PI / 2,
// -WIDTH / 2 - THICKNESS_FRONT / 2, LENGTH / 2, RADIUS_FRONT,
// 1.0f, 0.0f, 0.0f,
// 0.2f,
// RADIUS_FRONT,
// THICKNESS_FRONT
//);
//// 全右輪
//_wheel[3] = new ODE.Object.Cylinder(
// _world, _space,
// WIDTH / 2 + THICKNESS_FRONT / 2, LENGTH / 2, RADIUS_FRONT,
// 0.0f, 1.0f, 0.0f,
// Ode.PI / 2,
// WIDTH / 2 + THICKNESS_FRONT / 2, LENGTH / 2, RADIUS_FRONT,
// 1.0f, 0.0f, 0.0f,
// 0.2f,
// RADIUS_FRONT,
// THICKNESS_FRONT
//);
//_wheel[0].CreateJoint(Ode.JointType.Hinge, _carBody);
//_wheel[1].CreateJoint(Ode.JointType.Hinge, _carBody);
//_wheel[2].CreateJoint(Ode.JointType.Hinge, _carBody);
//_wheel[3].CreateJoint(Ode.JointType.Hinge, _carBody);
}
/// <summary>
/// 壁の生成
/// </summary>
private void CreateWall()
{
Real HEIGHT = 1.0f;
// 壁
_wall[0] = new ODE.Object.Box(
_world, _space,
-2.0f, 2.0f, HEIGHT/2,
0.0f, 0.0f, 0.0f,
0.0f,
0.0f, 0.0f, 0.0f,
0.0f, 0.0f, 0.0f,
10.0f,
3.0f, 1.0f, HEIGHT
);
_wall[1] = new ODE.Object.Box(
_world, _space,
1.0f, 8.0f, HEIGHT/2,
0.0f, 0.0f, 0.0f,
0.0f,
0.0f, 0.0f, 0.0f,
0.0f, 0.0f, 0.0f,
10.0f,
1.0f, 2.0f, HEIGHT
);
_wall[2] = new ODE.Object.Box(
_world, _space,
-2.0f, 12.0f, HEIGHT/2,
0.0f, 0.0f, 0.0f,
0.0f,
0.0f, 0.0f, 0.0f,
0.0f, 0.0f, 0.0f,
10.0f,
2.0f, 1.0f, HEIGHT
);
_wall[3] = new ODE.Object.Box(
_world, _space,
0.0f, 15.0f, HEIGHT/2,
0.0f, 0.0f, 0.0f,
0.0f,
0.0f, 0.0f, 0.0f,
0.0f, 0.0f, 0.0f,
10.0f,
2.0f, 1.0f, HEIGHT
);
for (int i = 0; i < 4; i++)
{
_wall[i].CreateJoint(Ode.JointType.Fixed);
}
}
