public static Tuple<HingeJoint, AngleJoint> ConnectWith(this BaseModelBody parentBody, BaseModelBody childBody, Vector2D hingeLocation)
{
var hinge = new HingeJoint(parentBody, childBody, hingeLocation, new Lifespan())
{
DistanceTolerance = 50,
Softness = 10000.1
};
var angle = new AngleJoint(parentBody, childBody, new Lifespan()) { Softness = -0.00000001, BiasFactor = 0.3};
return new Tuple<HingeJoint, AngleJoint>(hinge, angle);
}
public static DisposeCallback CreateTank(DemoOpenInfo info, Vector2D position,List<Body> result)
{
Lifespan avatarLifespan = new Lifespan();
IShape shape = ShapeFactory.CreateSprite(Cache<SurfacePolygons>.GetItem("tank.png"), 4, 18, 2);
ObjectIgnorer ignorer = new ObjectIgnorer();
Body tankBody = new Body(new PhysicsState(new ALVector2D(0, 0, 0)),
shape,
300,//new MassInfo(40, Scalar.PositiveInfinity),
new Coefficients(0, 1),
avatarLifespan);
result.Add(tankBody);
tankBody.State.Position.Linear += position;
tankBody.ApplyPosition();
tankBody.CollisionIgnorer = ignorer;
BodyGraphic graphic = CreateGraphic(tankBody);
graphic.ZOrder = 2;
info.Scene.AddGraphic(graphic);
Scalar wheelSize = 18;
Scalar wheelSpacing = -9;
Scalar lenghtPercent = .84f;
Matrix2x3 ident = Matrix2x3.Identity;
BoundingRectangle rect;
shape.CalcBoundingRectangle(ref ident, out rect);
Scalar y = (rect.Max.Y + 4);
Body lastWheel = null;
BoundingPolygon polygon = new BoundingPolygon(shape.Vertexes);
Ray ray2 = new Ray(new Vector2D(rect.Max.X, y), -Vector2D.YAxis);
Scalar y3 = y - polygon.Intersects(ray2);
Vector2D avatarBarrelOffset = new Vector2D(rect.Max.X + 10, y3);
CircleShape wheelShape = ShapeFactory.CreateColoredCircle(wheelSize, 30);
Scalar force = 0;
for (Scalar x = rect.Min.X + wheelSize; x < (rect.Max.X - wheelSize) * lenghtPercent; x += (wheelSize * 2 + wheelSpacing))
{
Ray ray = new Ray(new Vector2D(x, y), -Vector2D.YAxis);
Scalar y2 = y - polygon.Intersects(ray);
Vector2D offset = new Vector2D(x, y2);
Body wheel = new Body(
new PhysicsState(new ALVector2D(0, offset + position)),
wheelShape,
10,
new Coefficients(0, 3),// coefficients.Duplicate(),
avatarLifespan);
result.Add(wheel);
wheel.CollisionIgnorer = ignorer;
wheel.AngularDamping = .9f;
wheel.Updated += delegate(object sender, UpdatedEventArgs e)
{
wheel.State.ForceAccumulator.Angular += force;
};
info.Scene.AddGraphic(CreateGraphic(wheel));
HingeJoint joint = new HingeJoint(tankBody, wheel, offset + position, avatarLifespan);
joint.Softness = .1f;
info.Scene.Engine.AddJoint(joint);
if (lastWheel != null)
{
AngleJoint joint2 = new AngleJoint(lastWheel, wheel, avatarLifespan);
info.Scene.Engine.AddJoint(joint2);
}
lastWheel = wheel;
}
CircleShape weaponShape = ShapeFactory.CreateColoredCircle(5, 8);
//now begins the abuse of anominous delegates (BIG TIME)
EventHandler<KeyboardEventArgs> keyDownHandler = delegate(object sender, KeyboardEventArgs e)
{
switch (e.Key)
{
case Key.LeftArrow:
force = -1500000;
break;
case Key.RightArrow:
force = 1500000;
break;
case Key.Space:
Scalar velocity = 2000;
Matrix2x3 toWorld = tankBody.Matrices.ToWorld;
Matrix2x2 toWorldNormal = tankBody.Matrices.ToWorldNormal;
// Matrix2D mat = avatarBodies[0].Matrices.ToWorld;
Vector2D direction = toWorldNormal * Vector2D.XAxis;
PhysicsState state = new PhysicsState();
state.Position.Linear = toWorld * (avatarBarrelOffset);
state.Velocity.Linear = velocity * direction + tankBody.State.Velocity.Linear;
Body weapon = new Body(state,
weaponShape,
5,
new Coefficients(1, 1),
new Lifespan(10));
//weapon.CollisionIgnorer = tankBody.CollisionIgnorer;
weapon.Collided += delegate(object sender2, CollisionEventArgs e2)
{
if (!weapon.Lifetime.IsExpired)
{
weapon.Lifetime.IsExpired = true;
AddParticles(info, weapon.State.Position.Linear, weapon.State.Velocity.Linear * .5f, 50);
}
};
// weapon.Collided += weapon_Collided;
tankBody.State.Velocity.Linear -= (velocity * weapon.Mass.Mass * tankBody.Mass.MassInv) * direction;
info.Scene.AddGraphic(CreateGraphic(weapon));
break;
}
};
EventHandler<KeyboardEventArgs> keyUpHandler = delegate(object sender, KeyboardEventArgs e)
{
switch (e.Key)
{
case Key.LeftArrow:
force = 0;
break;
case Key.RightArrow:
force = 0;
break;
}
};
Events.KeyboardDown += keyDownHandler;
Events.KeyboardUp += keyUpHandler;
return delegate()
{
Events.KeyboardDown -= keyDownHandler;
Events.KeyboardUp -= keyUpHandler;
};
}
void CreateAvatar()
{
Lifespan avatarLifespan = new Lifespan();
Sprite sprite = GetSprite("tank.png");
Vector2D[][] polygons = sprite.Polygons;
MultiPolygonShape shape = new MultiPolygonShape(polygons, 4);
shape.Tag = sprite;
ObjectIgnorer ignorer = new ObjectIgnorer();
Body a = new Body(new PhysicsState(new ALVector2D(0, 0, 0)),
shape,
300,//new MassInfo(40, Scalar.PositiveInfinity),
coefficients.Duplicate(),
avatarLifespan);
a.Updated += new EventHandler<UpdatedEventArgs>(avatar_Updated);
avatarBodies = new List<Body>();
avatarOffsets = new List<Vector2D>();
avatarJoints = new List<Joint>();
avatarBodies.Add(a);
a.CollisionIgnorer = ignorer;
Scalar wheelSize = 18;
Scalar wheelSpacing = -9;
Scalar lenghtPercent = .84f;
Matrix2x3 ident = Matrix2x3.Identity;
BoundingRectangle rect;
shape.CalcBoundingRectangle(ref ident, out rect);
Scalar y = (rect.Max.Y +4) ;
Body lastWheel = null ;
BoundingPolygon polygon = new BoundingPolygon(polygons[0]);
Ray ray2 = new Ray(new Vector2D(rect.Max.X, y), -Vector2D.YAxis);
Scalar y3 = y - polygon.Intersects(ray2);
avatarBarrelOffset = new Vector2D(rect.Max.X, y3);
for (Scalar x = rect.Min.X + wheelSize ; x < (rect.Max.X - wheelSize ) * lenghtPercent; x += (wheelSize*2 + wheelSpacing))
{
Ray ray = new Ray(new Vector2D(x, y), -Vector2D.YAxis);
Scalar y2 = y- polygon.Intersects(ray);
Vector2D offset = new Vector2D(x, y2);
Body wheel = new Body(
new PhysicsState(new ALVector2D(0, offset)),
new CircleShape(wheelSize, 30),
10,
new Coefficients(0,3),// coefficients.Duplicate(),
avatarLifespan);
HingeJoint joint = new HingeJoint(a, wheel, offset, avatarLifespan);
joint.Softness = .1f;
wheel.CollisionIgnorer = ignorer;
if (lastWheel != null)
{
AngleJoint joint2 = new AngleJoint(lastWheel, wheel, avatarLifespan);
avatarJoints.Add(joint2);
}
avatarJoints.Add(joint);
avatarOffsets.Add(offset);
avatarBodies.Add(wheel);
lastWheel = wheel;
}
}
private void AddSlot(BaseGeneViewModel gene)
{
Will.Instance.RunPauseWilling(false);
var slotGene = (NodeGeneViewModel)gene;
var boneBody = Will.Instance.Bodies.RandomOrDefault<BoneBody>(b => b.Model.ChildSlots.Any(s => s.IsOccupied == false));
if (boneBody == null)
{
Will.Instance.RunPauseWilling(true);
return;
}
var parPos = boneBody.State.Position;
var randSlot = boneBody.Model.ChildSlots.Where(s => s.IsOccupied == false).RandomOrDefault();
var slot = slotGene.GetModelDuplicate();
slot.Direction = randSlot.Direction;
slot.DistanceFromCenter = randSlot.DistanceFromCenter;
slot.Orientation = randSlot.Orientation;
randSlot.IsOccupied = true;
var slotBody = WillHelper.CreateConnectionSlotBody(slot, boneBody.ModelId);
var slotXAngle = slot.Direction + parPos.Angular;
var slotCenter = Vector2D.Rotate(slotXAngle, new Vector2D(slot.DistanceFromCenter, 0.0f));
var slotPos = new ALVector2D(slot.Orientation + slotXAngle, slotCenter + parPos.Linear);
slotBody.State.Position = slotPos;
slotBody.ApplyPosition();
slotBody.Parent = boneBody;
boneBody.Children.Add(slotBody);
var joints = new List<Joint>();
var nodePos = slotBody.State.Position;
var hinge = new HingeJoint(boneBody, slotBody, (slot.Size * nodePos.Linear + boneBody.Model.Length * parPos.Linear) * (1/(slot.Size + boneBody.Model.Length)), new Lifespan())
{
DistanceTolerance = 50,
Softness = 10.1
};
var angle = new AngleJoint(boneBody, slotBody, new Lifespan()) { Softness = 0.00001 };
joints.Add(hinge);
joints.Add(angle);
Will.Instance.AddBody(slotBody);
Will.Instance.AddJoints(joints);
Will.Instance.RunPauseWilling(true);
}
private void AddCore(Guid geneApplicationId, BaseGeneViewModel gene)
{
var core = (CoreGeneViewModel)gene;
var model = core.GetModelDuplicate();
model.Id = geneApplicationId;
var coreBody = WillHelper.CreateCoreBody(model, geneApplicationId);
var nodes = WillHelper.BuildNodeSlots(coreBody, geneApplicationId);
coreBody.Children = nodes;
var corePos = coreBody.State.Position;
var joints = new List<Joint>();
foreach (var node in nodes)
{
var hinge = new HingeJoint(coreBody, node, (2* node.State.Position.Linear + 8 * corePos.Linear) * 0.1f, new Lifespan())
{
DistanceTolerance = 10,
Softness = 100.0
};
var angle = new AngleJoint(coreBody, node, new Lifespan()) { Softness = 0.0001, BiasFactor = 0.2f };
joints.Add(hinge);
joints.Add(angle);
}
Will.Instance.AddModelBodies(new List<BaseModelBody>{ coreBody }.Concat(nodes).ToList());
Will.Instance.AddJoints(joints);
}
private void AddChainCommandExecute(object parameter)
{
Will.Instance.Purge();
Will.Instance.RunPauseWilling(false);
var startPoint = new Vector2D(300, 800);
double angle = MathHelper.ToRadians(15.0f);
double boxlength = 50;
double spacing = 2;
double anchorLength = 30;
double anchorGap = (boxlength / 2) + spacing + (anchorLength / 2);
var chainId = Guid.NewGuid();
var chain = WillHelper.BuildChain(startPoint, boxlength, 3, 1200, spacing, 600, chainId);
var point2 = new Vector2D(chain[chain.Count - 1].State.Position.Linear.X + anchorGap, startPoint.Y);
var end2 = WillHelper.AddCircle(anchorLength / 2, 6, double.PositiveInfinity, new ALVector2D(0, point2), chainId);
end2.IgnoresGravity = true;
var joint2 = new HingeJoint(chain[chain.Count - 1], end2, point2, new Lifespan()) {DistanceTolerance = 20};
var joint21 = new AngleJoint(chain[chain.Count - 1], end2, new Lifespan()) { Angle = angle };
var point1 = new Vector2D(chain[0].State.Position.Linear.X - anchorGap, startPoint.Y);
var end1 = WillHelper.AddCircle(anchorLength / 2, 6, double.PositiveInfinity, new ALVector2D(0, point1), chainId);
chain.Add(end1);
chain.Add(end2);
end1.IgnoresGravity = true;
var joint1 = new HingeJoint(chain[0], end1, point1, new Lifespan()) {DistanceTolerance = 20};
var joint11 = new AngleJoint(end1, chain[0], new Lifespan()) { Angle = angle };
Will.Instance.AddJoint(joint1);Will.Instance.AddJoint(joint11);
Will.Instance.AddJoint(joint2);Will.Instance.AddJoint(joint21);
Representation.Instance.RegisterModel(chainId, chain);
Will.Instance.RunPauseWilling(true);
}