cpSpaceActivateBody(cpSpace space, cpBody body)
{
// cpAssertHard(!cpBodyIsRogue(body), "Internal error: Attempting to activate a rogue body.");
if(space.locked){
// cpSpaceActivateBody() is called again once the space is unlocked
if(!cpArrayContains(space.rousedBodies, body)) cpArrayPush(space.rousedBodies, body);
} else {
// cpAssertSoft(body.node.root == null && body.node.next == null, "Internal error: Activating body non-null node pointers.");
cpArrayPush(space.bodies, body);
CP_BODY_FOREACH_SHAPE(body, shape){
cpSpatialIndexRemove(space.staticShapes, shape, shape.hashid);
cpSpatialIndexInsert(space.activeShapes, shape, shape.hashid);
}
CP_BODY_FOREACH_ARBITER(body, arb){
cpBody bodyA = arb.body_a;
// Arbiters are shared between two bodies that are always woken up together.
// You only want to restore the arbiter once, so bodyA is arbitrarily chosen to own the arbiter.
// The edge case is when static bodies are involved as the static bodies never actually sleep.
// If the static body is bodyB then all is good. If the static body is bodyA, that can easily be checked.
if(body == bodyA || cpBodyIsStatic(bodyA)){
int numContacts = arb.numContacts;
cpContact contacts = arb.contacts;
// Restore contact values back to the space's contact buffer memory
arb.contacts = cpContactBufferGetArray(space);
memcpy(arb.contacts, contacts, numContacts*sizeof(cpContact));
cpSpacePushContacts(space, numContacts);
// Reinsert the arbiter into the arbiter cache
cpShape a = arb.a, *b = arb.b;
cpShape shape_pair[] = {a, b};
cpShapeInit(cpShape shape, cpShapeClass klass, cpBody body)
{
shape.klass = klass;
shape.hashid = cpShapeIDCounter;
cpShapeIDCounter++;
shape.body = body;
shape.sensor = 0;
shape.e = 0.0f;
shape.u = 0.0f;
shape.surface_v = cpvzero;
shape.collision_type = 0;
shape.group = CP_NO_GROUP;
shape.layers = CP_ALL_LAYERS;
shape.data = null;
shape.space = null;
shape.next = null;
shape.prev = null;
return shape;
}
cpBodyInit(cpBody body, double m, double i)
{
body.space = null;
body.shapeList = null;
body.arbiterList = null;
body.constraintList = null;
body.velocity_func = cpBodyUpdateVelocity;
body.position_func = cpBodyUpdatePosition;
cpComponentNode node = new cpComponentNode() {null, null, 0.0f};
body.node = node;
body.p = cpvzero;
body.v = cpvzero;
body.f = cpvzero;
body.w = 0.0f;
body.t = 0.0f;
body.v_bias = cpvzero;
body.w_bias = 0.0f;
body.v_limit = double.PositiveInfinity;
body.w_limit = double.PositiveInfinity;
body.data = null;
// Setters must be called after full initialization so the sanity checks don't assert on garbage data.
cpBodySetMass(body, m);
cpBodySetMoment(body, i);
cpBodySetAngle(body, 0.0f);
return body;
}
cpBodyInitStatic(cpBody body)
{
cpBodyInit(body, double.PositiveInfinity, double.PositiveInfinity);
body.node.idleTime = double.PositiveInfinity;
return body;
}
public override void ApplyImpulse(float dt)
{
cpBody a = this.a;
cpBody b = this.b;
cpVect r1 = this.r1;
cpVect r2 = this.r2;
// compute relative velocity
cpVect vr = cp.relative_velocity(a, b, r1, r2);
// compute normal impulse
cpVect j = cpMat2x2.Transform(this.k, cpVect.cpvsub(this.bias, vr));
cpVect jOld = this.jAcc;
this.jAcc = cpVect.cpvclamp(cpVect.cpvadd(this.jAcc, j), this.maxForce * dt);
j = cpVect.cpvsub(this.jAcc, jOld);
// apply impulse
cp.apply_impulses(a, b, this.r1, this.r2, j);
}
static void Main(string[] args)
{
cpSpace space = new cpSpace();
space.SetGravity(new cpVect(0, -100));
cpShape shape = cpShape.NewSegment(space.StaticBody, new cpVect(-20, 5), new cpVect(20, -5), 0);
shape.SetFriction(1);
space.AddShape(shape);
double radius = 5;
double mass = 1;
double moment = cpUtil.MomentForCircle(mass, 0, radius, cpVect.Zero);
cpBody ballBody = new cpBody(mass, moment);
space.AddBody(ballBody);
ballBody.Position = new cpVect(0, 15);
cpShape ballShape = cpShape.NewCircle(ballBody, radius, cpVect.Zero);
space.AddShape(ballShape);
ballShape.SetFriction(0.7);
double timeStep = 1 / 60d;
for (double time = 0; time < 2; time += timeStep)
{
cpVect pos = ballBody.Position;
cpVect vel = ballBody.Velocity;
Console.WriteLine("Time is {0:F2}. ballBody is at ({1:F2}, {2:F2}). It's velocity is ({3:F2}, {4:F2})",
time, pos.X, pos.Y, vel.X, vel.Y
);
space.Step(timeStep);
}
Console.ReadKey();
}
public override void OnEnter()
{
base.OnEnter();
space.SetIterations(20);
planetBody = space.AddBody(cpBody.NewKinematic());
planetBody.SetAngularVelocity(0.2f);
for (int i = 0; i < 30; i++)
{
add_box();
}
cpShape shape = space.AddShape(new cpCircleShape(planetBody, 70, cpVect.Zero));
shape.SetElasticity(1);
shape.SetFriction(1);
shape.SetFilter(NOT_GRABBABLE_FILTER);
Schedule();
}
public PhysicObject(UIImage firstText, int radius, cpSpace space, bool isKinematic = false) : base(firstText)
{
trsf = new cpTransform();
collCount++;
physic = new cpBody(rnd.Next(500, 1000), cp.PHYSICS_INFINITY);
if (isKinematic)
{
physic.SetBodyType(cpBodyType.KINEMATIC);
}
shp = new cpCircleShape(physic, radius, cpVect.Zero);
shp.Active();
shp.SetSensor(true);
shp.SetCollisionType(1);
physic.SetPosition(new cpVect((float)Frame.Location.X, (float)Frame.Location.Y));
if (space != null)
{
space.AddBody(physic);
space.AddShape(shp);
this.space = space;
}
}
static public cpSpace BouncyTerrainHexagons_500(cpSpace space)
{
SetSubTitle("BouncyTerrainHexagons 500");
//cpSpace space = BENCH_SPACE_NEW();
space.SetIterations(10);
cpVect offset = new cpVect(-320, -240);
for (int i = 0; i < (bouncy_terrain_verts.Length - 1); i++)
{
cpVect a = bouncy_terrain_verts[i], b = bouncy_terrain_verts[i + 1];
cpShape shape = space.AddShape(new cpSegmentShape(space.GetStaticBody(), cpVect.cpvadd(a, offset), cpVect.cpvadd(b, offset), 0.0f));
shape.SetElasticity(1.0f);
}
float radius = 5.0f;
cpVect[] hexagon = new cpVect[6];
for (int i = 0; i < 6; i++)
{
float angle = -(float)Math.PI * 2.0f * i / 6.0f;
hexagon[i] = cpVect.cpvmult(cpVect.cpv(cp.cpfcos(angle), cp.cpfsin(angle)), radius - bevel);
}
for (int i = 0; i < 500; i++)
{
float mass = radius * radius;
cpBody body = space.AddBody(new cpBody(mass, cp.MomentForPoly(mass, 6, hexagon, cpVect.Zero, 0.0f)));
body.SetPosition(cpVect.cpvadd(cpVect.cpvmult(cp.frand_unit_circle(), 130.0f), cpVect.Zero));
body.SetVelocity(cpVect.cpvmult(cp.frand_unit_circle(), 50.0f));
cpShape shape = space.AddShape(new cpPolyShape(body, 6, hexagon, cpTransform.Identity, bevel));
shape.SetElasticity(1.0f);
}
return(space);
}
static public cpSpace ComplexTerrainHexagons_1000(cpSpace space)
{
SetSubTitle("ComplexTerrainHexagons_1000");
space.SetIterations(10);
space.SetGravity(new cpVect(0, -100));
space.SetCollisionSlop(0.5f);
cpVect offset = new cpVect(-320, -240);
for (int i = 0; i < (complex_terrain_verts.Length - 1); i++)
{
cpVect a = complex_terrain_verts[i], b = complex_terrain_verts[i + 1];
space.AddShape(new cpSegmentShape(space.GetStaticBody(), cpVect.cpvadd(a, offset), cpVect.cpvadd(b, offset), 0.0f));
}
float radius = 5.0f;
cpVect[] hexagon = new cpVect[6];
for (int i = 0; i < 6; i++)
{
float angle = -(float)Math.PI * 2.0f * i / 6.0f;
hexagon[i] = cpVect.cpvmult(cpVect.cpv(cp.cpfcos(angle), cp.cpfsin(angle)), radius - bevel);
}
for (int i = 0; i < 1000; i++)
{
float mass = radius * radius;
cpBody body = space.AddBody(new cpBody(mass, cp.MomentForPoly(mass, 6, hexagon, cpVect.Zero, 0.0f)));
body.SetPosition(cpVect.cpvadd(cpVect.cpvmult(cp.frand_unit_circle(), 180.0f), new cpVect(0.0f, 300.0f)));
cpShape shape = space.AddShape(new cpPolyShape(body, 6, hexagon, cpTransform.Identity, bevel));
shape.SetElasticity(0.0f); shape.SetFriction(0.0f);
}
return(space);
}
public override void Update(float dt)
{
base.Update(dt);
float coef = (2.0f + ChipmunkDemoKeyboard.y) / 3.0f;
float rate = ChipmunkDemoKeyboard.x * 30.0f * coef;
motor.SetRate(rate);
motor.SetMaxForce(rate > 0 ? 1000000.0f : 0.0f);
space.Step(dt);
for (int i = 0; i < numBalls; i++)
{
cpBody ball = balls[i];
cpVect pos = ball.GetPosition();
if (pos.x > 320.0f)
{
ball.SetVelocity(cpVect.Zero);
ball.SetPosition(new cpVect(-224.0f, 200.0f));
}
}
}
public override void PreStep(float dt)
{
cpBody a = this.a;
cpBody b = this.b;
this.r1 = cpTransform.Vect(a.transform, cpVect.cpvsub(this.anchorA, a.cog));
this.r2 = cpTransform.Vect(b.transform, cpVect.cpvsub(this.anchorB, b.cog));
cpVect delta = cpVect.cpvsub(cpVect.cpvadd(b.p, this.r2), cpVect.cpvadd(a.p, this.r1));
float dist = cpVect.cpvlength(delta);
float pdist = 0.0f;
if (dist > this.max)
{
pdist = dist - this.max;
this.n = cpVect.cpvnormalize(delta);
}
else if (dist < this.min)
{
pdist = this.min - dist;
this.n = cpVect.cpvneg(cpVect.cpvnormalize(delta));
}
else
{
this.n = cpVect.Zero;
this.jnAcc = 0.0f;
}
// calculate mass normal
this.nMass = 1.0f / cp.k_scalar(a, b, this.r1, this.r2, this.n);
// calculate bias velocity
float maxBias = this.maxBias;
this.bias = cp.cpfclamp(-cp.bias_coef(this.errorBias, dt) * pdist / dt, -maxBias, maxBias);
}
public void SetBody(cpBody body)
{
_body = body;
}
cpBoxShapeInit2(cpPolyShape poly, cpBody body, cpBB box)
{
cpVect[] verts = new cpVect[] {
cpv(box.l, box.b),
cpv(box.l, box.t),
cpv(box.r, box.t),
cpv(box.r, box.b)
};
return cpPolyShapeInit(poly, body, 4, verts, cpvzero);
}
cpBoxShapeNew2(cpBody body, cpBB box)
{
return (cpShape)cpBoxShapeInit2(new cpPolyShape(), body, box);
}
public static cpShape NewSegment(cpBody body, cpVect a, cpVect b, cpFloat r)
{
return(new cpShape(cpSegmentShapeNew(body, a, b, r)));
}
cpPolyShapeNew(cpBody body, int numVerts, cpVect[] verts, cpVect offset)
{
return (cpShape)cpPolyShapeInit(new cpPolyShape(), body, numVerts, verts, offset);
}
cpBodyApplyForce(cpBody body, cpVect force, cpVect r)
{
cpBodyActivate(body);
body.f = cpVect.Add(body.f, force);
body.t += cpVect.CrossProduct(r, force);
}
cpBodyUpdatePosition(cpBody body, double dt)
{
body.p = cpVect.Add(body.p, cpVect.Multiply(cpVect.Add(body.v, body.v_bias), dt));
setAngle(body, body.a + (body.w + body.w_bias)*dt);
body.v_bias = cpvzero;
body.w_bias = 0.0f;
cpBodySanityCheck(body);
}
cpBodyEachConstraint(cpBody body, cpBodyConstraintIteratorFunc func, object data)
{
cpConstraint constraint = body.constraintList;
while(constraint){
cpConstraint next = cpConstraintNext(constraint, body);
func(body, constraint, data);
constraint = next;
}
}
cpBodyEachArbiter(cpBody body, cpBodyArbiterIteratorFunc func, object data)
{
cpArbiter arb = body.arbiterList;
while(arb){
cpArbiter next = cpArbiterNext(arb, body);
arb.swappedColl = (body == arb.body_b);
func(body, arb, data);
arb = next;
}
}
cpBodyGetVelAtLocalPoint(cpBody body, cpVect point)
{
return cpBodyGetVelAtPoint(body, cpvrotate(point, body.rot));
}
cpBodyEachShape(cpBody body, cpBodyShapeIteratorFunc func, object data)
{
cpShape shape = body.shapeList;
while(shape){
cpShape next = shape.next;
func(body, shape, data);
shape = next;
}
}
cpBodyGetVelAtWorldPoint(cpBody body, cpVect point)
{
return cpBodyGetVelAtPoint(body, cpVect.Sub(point, body.p));
}
cpBodyGetVelAtPoint(cpBody body, cpVect r)
{
return cpVect.Add(body.v, cpVect.Multiply(cpvperp(r), body.w));
}
cpBodyApplyImpulse(cpBody body, cpVect j, cpVect r)
{
cpBodyActivate(body);
apply_impulse(body, j, r);
}
public override void OnEnter()
{
base.OnEnter();
SetSubTitle("Use the mouse to drive the tank, it will follow the cursor.");
//Position = new CCPoint(240, 170);
space.SetIterations(10);
space.SetSleepTimeThreshold(0.5f);
cpBody staticBody = space.GetStaticBody();
cpShape shape;
// Create segments around the edge of the screen.
shape = space.AddShape(new cpSegmentShape(staticBody, new cpVect(-320, -240), new cpVect(-320, 240), 0));
shape.SetElasticity(1);
shape.SetFriction(1);
shape.SetFilter(NOT_GRABBABLE_FILTER);
shape = space.AddShape(new cpSegmentShape(staticBody, new cpVect(320, -240), new cpVect(320, 240), 0));
shape.SetElasticity(1);
shape.SetFriction(1);
shape.SetFilter(NOT_GRABBABLE_FILTER);
shape = space.AddShape(new cpSegmentShape(staticBody, new cpVect(-320, -240), new cpVect(320, -240), 0));
shape.SetElasticity(1);
shape.SetFriction(1);
shape.SetFilter(NOT_GRABBABLE_FILTER);
shape = space.AddShape(new cpSegmentShape(staticBody, new cpVect(-320, 240), new cpVect(320, 240), 0));
shape.SetElasticity(1);
shape.SetFriction(1);
shape.SetFilter(NOT_GRABBABLE_FILTER);
for (int i = 0; i < 50; i++)
{
cpBody body = add_box(20, 1);
cpConstraint pivot = space.AddConstraint(new cpPivotJoint(staticBody, body, cpVect.Zero, cpVect.Zero));
pivot.SetMaxBias(0); // disable joint correction
pivot.SetMaxForce(1000); // emulate linear friction
cpConstraint gear = space.AddConstraint(new cpGearJoint(staticBody, body, 0, 1));
gear.SetMaxBias(0); // disable joint correction
gear.SetMaxForce(5000); // emulate linear friction
}
// We joint the tank to the control body and control the tank indirectly by modifying the control body.
tankControlBody = space.AddBody(cpBody.NewKinematic());
tankBody = add_box(30, 10);
cpConstraint pivot2 = space.AddConstraint(new cpPivotJoint(tankControlBody, tankBody, cpVect.Zero, cpVect.Zero));
pivot2.SetMaxBias(0); // disable joint correction
pivot2.SetMaxForce(10000); // emulate linear friction
cpConstraint gears = space.AddConstraint(new cpGearJoint(tankControlBody, tankBody, 0, 1));
gears.SetErrorBias(0); // attempt to fully correct the joint each step
gears.SetMaxBias(1.2f); // but limit it's angular correction rate
gears.SetMaxForce(5000); // emulate angular friction
Schedule();
}
cpBodySetAngle(cpBody body, double angle)
{
cpBodyActivate(body);
setAngle(body, angle);
}
public override void OnEnter()
{
base.OnEnter();
SetSubTitle("Right click to make pentagons static/dynamic.");
space.SetIterations(5);
space.SetGravity(new cpVect(0, -100));
cpBody body, staticBody = space.GetStaticBody();
cpShape shape;
// Vertexes for a triangle shape.
cpVect[] tris = new cpVect[] {
new cpVect(-15, -15),
new cpVect(0, 10),
new cpVect(15, -15),
};
// Create the static triangles.
for (int i = 0; i < 9; i++)
{
for (int j = 0; j < 6; j++)
{
float stagger = (j % 2) * 40;
cpVect offset = new cpVect(i * 80 - 320 + stagger, j * 70 - 240);
shape = space.AddShape(new cpPolyShape(staticBody, 3, tris, cpTransform.Translate(offset), 0));
shape.SetElasticity(1.0f);
shape.SetFriction(1.0f);
shape.SetFilter(NOT_GRABBABLE_FILTER);
}
}
cpVect[] verts = new cpVect[NUM_VERTS];
for (int i = 0; i < NUM_VERTS; i++)
{
float angle = -2 * cp.M_PI * i / NUM_VERTS;
verts[i] = cpVect.cpv(10 * cp.cpfcos(angle), 10 * cp.cpfsin(angle));
}
pentagon_mass = 1;
pentagon_moment = cp.MomentForPoly(1.0f, NUM_VERTS, verts, cpVect.Zero, 0.0f);
// Add lots of pentagons.
for (int i = 0; i < 100; i++)
{
body = space.AddBody(new cpBody(pentagon_mass, pentagon_moment));
body.SetPosition(
new cpVect(
RandomHelper.next(-300, 300),
RandomHelper.next(350, 1000)));
shape = space.AddShape(new cpPolyShape(body, NUM_VERTS, verts, cpTransform.Identity, 0.0f));
shape.SetElasticity(0.0f);
shape.SetFriction(0.4f);
}
Schedule();
}
setAngle(cpBody body, double angle)
{
body.a = angle;//fmod(a, (double)System.Math.PI*2.0f);
body.rot = cpvforangle(angle);
cpBodyAssertSane(body);
}
public void AddBody(cpBody body)
{
cpSpaceAddBody(pointer, body);
}
void cpBodyDestroy(cpBody body){}
public override void OnEnter()
{
base.OnEnter();
SetSubTitle("Use the arrow keys to control the machine.");
space.SetIterations(20);
space.SetGravity(new cpVect(0, -500));
cpBody staticBody = space.GetStaticBody();
cpShape shape;
cpVect a, b;
shape = space.AddShape(new cpSegmentShape(staticBody, new cpVect(-320, 240), new cpVect(320, 240), 0.0f));
shape.SetElasticity(1.0f);
shape.SetFriction(1.0f);
// Create segments around the edge of the screen.
shape = space.AddShape(new cpSegmentShape(staticBody, new cpVect(-320, -240), new cpVect(-320, 240), 0.0f));
shape.SetElasticity(1.0f);
shape.SetFriction(1.0f);
shape.SetFilter(NOT_GRABBABLE_FILTER);
shape = space.AddShape(new cpSegmentShape(staticBody, new cpVect(320, -240), new cpVect(320, 240), 0.0f));
shape.SetElasticity(1.0f);
shape.SetFriction(1.0f);
shape.SetFilter(NOT_GRABBABLE_FILTER);
shape = space.AddShape(new cpSegmentShape(staticBody, new cpVect(-320, -240), new cpVect(320, -240), 0.0f));
shape.SetElasticity(1.0f);
shape.SetFriction(1.0f);
shape.SetFilter(NOT_GRABBABLE_FILTER);
float offset = 30.0f;
// make chassis
float chassis_mass = 2.0f;
a = new cpVect(-offset, 0.0f);
b = new cpVect(offset, 0.0f);
cpBody chassis = space.AddBody(new cpBody(chassis_mass, cp.MomentForSegment(chassis_mass, a, b, 0.0f)));
shape = space.AddShape(new cpSegmentShape(chassis, a, b, seg_radius));
shape.SetFilter(new cpShapeFilter(1, cp.ALL_CATEGORIES, cp.ALL_CATEGORIES));
// make crank
float crank_mass = 1.0f;
float crank_radius = 13.0f;
cpBody crank = space.AddBody(new cpBody(crank_mass, cp.MomentForCircle(crank_mass, crank_radius, 0.0f, cpVect.Zero)));
shape = space.AddShape(new cpCircleShape(crank, crank_radius, cpVect.Zero));
shape.SetFilter(new cpShapeFilter(1, cp.ALL_CATEGORIES, cp.ALL_CATEGORIES));
space.AddConstraint(new cpPivotJoint(chassis, crank, cpVect.Zero, cpVect.Zero));
float side = 30.0f;
int num_legs = 2;
for (int i = 0; i < num_legs; i++)
{
make_leg(side, offset, chassis, crank, cpVect.cpvmult(cpVect.cpvforangle((float)(2 * i + 0) / (float)num_legs * ((float)Math.PI)), crank_radius));
make_leg(side, -offset, chassis, crank, cpVect.cpvmult(cpVect.cpvforangle((float)(2 * i + 1) / (float)num_legs * ((float)Math.PI)), crank_radius));
}
motor = space.AddConstraint(new cpSimpleMotor(chassis, crank, 6.0f));
Schedule();
}
cpBodyFree(cpBody body)
{
if(body){
cpBodyDestroy(body);
cpfree(body);
}
}
cpPolyShapeInit(cpPolyShape poly, cpBody body, int numVerts, cpVect[] verts, cpVect offset)
{
setUpVerts(poly, numVerts, verts, offset);
cpShapeInit((cpShape)poly, &polyClass, body);
return poly;
}
void AttachHook(cpBody hook, cpBody crate)
{
hookJoint = space.AddConstraint(new cpPivotJoint(hook, crate, hook.GetPosition()));
}
cpBoxShapeInit(cpPolyShape poly, cpBody body, double width, double height)
{
double hw = width / 2.0f;
double hh = height / 2.0f;
return cpBoxShapeInit2(poly, body, cpBBNew(-hw, -hh, hw, hh));
}
public override void OnEnter()
{
base.OnEnter();
SetSubTitle("Control the crane by moving the mouse. Right click to release.");
space.SetIterations(30);
space.SetGravity(new cpVect(0, -100));
space.SetDamping(0.8f);
cpBody staticBody = space.GetStaticBody();
cpShape shape;
shape = space.AddShape(new cpSegmentShape(staticBody, new cpVect(-320, -240), new cpVect(320, -240), 0.0f));
shape.SetElasticity(1.0f);
shape.SetFriction(1.0f);
shape.SetFilter(NOT_GRABBABLE_FILTER);
// Add a body for the dolly.
dollyBody = space.AddBody(new cpBody(10, cp.Infinity));
dollyBody.SetPosition(new cpVect(0, 100));
// Add a block so you can see it.
space.AddShape(cpPolyShape.BoxShape(dollyBody, 30, 30, 0.0f));
// Add a groove joint for it to move back and forth on.
space.AddConstraint(new cpGrooveJoint(staticBody, dollyBody, new cpVect(-250, 100), new cpVect(250, 100), cpVect.Zero));
// Add a pivot joint to act as a servo motor controlling it's position
// By updating the anchor points of the pivot joint, you can move the dolly.
dollyServo = space.AddConstraint(new cpPivotJoint(staticBody, dollyBody, dollyBody.GetPosition()));
// Max force the dolly servo can generate.
dollyServo.SetMaxForce(10000);
// Max speed of the dolly servo
dollyServo.SetMaxBias(100);
// You can also change the error bias to control how it slows down.
dollyServo.SetErrorBias(0.2f);
// Add the crane hook.
cpBody hookBody = space.AddBody(new cpBody(1, cp.Infinity));
hookBody.SetPosition(new cpVect(0, 50));
// Add a sensor shape for it. This will be used to figure out when the hook touches a box.
shape = space.AddShape(new cpCircleShape(hookBody, 10, cpVect.Zero));
shape.SetSensor(true);// cpTrue);
shape.SetCollisionType(((int)COLLISION_TYPES.HOOK_SENSOR));
// Add a slide joint to act as a winch motor
// By updating the max length of the joint you can make it pull up the load.
winchServo = space.AddConstraint(new cpSlideJoint(dollyBody, hookBody, cpVect.Zero, cpVect.Zero, 0, cp.Infinity));
// Max force the dolly servo can generate.
winchServo.SetMaxForce(30000);
// Max speed of the dolly servo
winchServo.SetMaxBias(60);
// TODO: cleanup
// Finally a box to play with
cpBody boxBody = space.AddBody(new cpBody(30, cp.MomentForBox(30, 50, 50)));
boxBody.SetPosition(new cpVect(200, -200));
// Add a block so you can see it.
shape = space.AddShape(cpPolyShape.BoxShape(boxBody, 50, 50, 0));
shape.SetFriction(0.7f);
shape.SetCollisionType(((int)COLLISION_TYPES.CRATE));
var handler = space.AddCollisionHandler(
(int)COLLISION_TYPES.HOOK_SENSOR,
(int)COLLISION_TYPES.CRATE);
handler.beginFunc = HookCrate;
Schedule();
}
cpBoxShapeNew(cpBody body, double width, double height)
{
return (cpShape)cpBoxShapeInit(new cpPolyShape(), body, width, height);
}
public override void OnEnter()
{
base.OnEnter();
space.SetIterations(30);
space.SetGravity(new cpVect(0, -100));
space.SetSleepTimeThreshold(0.5f);
cpBody body, staticBody = space.GetStaticBody();
cpShape shape;
// Create segments around the edge of the screen.
shape = space.AddShape(new cpSegmentShape(staticBody, new cpVect(-320, -240), new cpVect(-320, 240), 0.0f));
shape.SetElasticity(1.0f);
shape.SetFriction(1.0f);
shape.SetFilter(NOT_GRABBABLE_FILTER);
shape = space.AddShape(new cpSegmentShape(staticBody, new cpVect(320, -240), new cpVect(320, 240), 0.0f));
shape.SetElasticity(1.0f);
shape.SetFriction(1.0f);
shape.SetFilter(NOT_GRABBABLE_FILTER);
shape = space.AddShape(new cpSegmentShape(staticBody, new cpVect(-320, -240), new cpVect(320, -240), 0.0f));
shape.SetElasticity(1.0f);
shape.SetFriction(1.0f);
shape.SetFilter(NOT_GRABBABLE_FILTER);
shape = space.AddShape(new cpSegmentShape(staticBody, new cpVect(-320, 240), new cpVect(320, 240), 0.0f));
shape.SetElasticity(1.0f);
shape.SetFriction(1.0f);
shape.SetFilter(NOT_GRABBABLE_FILTER);
float mass = 1;
float width = 20;
float height = 30;
float spacing = width * 0.3f;
// Add lots of boxes.
for (int i = 0; i < CHAIN_COUNT; i++)
{
cpBody prev = null;
for (int j = 0; j < LINK_COUNT; j++)
{
cpVect pos = new cpVect(40 * (i - (CHAIN_COUNT - 1) / 2.0f), 240 - (j + 0.5f) * height - (j + 1) * spacing);
body = space.AddBody(new cpBody(mass, cp.MomentForBox(mass, width, height)));
body.SetPosition(pos);
shape = space.AddShape(new cpSegmentShape(body, new cpVect(0, (height - width) / 2.0f), new cpVect(0, (width - height) / 2.0f), width / 2.0f));
shape.SetFriction(0.8f);
float breakingForce = 80000;
cpConstraint constraint = null;
if (prev == null)
{
constraint = space.AddConstraint(new cpSlideJoint(body, staticBody, new cpVect(0, height / 2), new cpVect(pos.x, 240), 0, spacing));
}
else
{
constraint = space.AddConstraint(new cpSlideJoint(body, prev, new cpVect(0, height / 2), new cpVect(0, -height / 2), 0, spacing));
}
constraint.SetMaxForce(breakingForce);
constraint.SetPostSolveFunc(s => BreakableJointPostSolve(constraint));
constraint.SetCollideBodies(false);
//cpConstraintSetPostSolveFunc(constraint, BreakableJointPostSolve);
prev = body;
}
}
float radius = 15.0f;
body = space.AddBody(new cpBody(10.0f, cp.MomentForCircle(10.0f, 0.0f, radius, cpVect.Zero)));
body.SetPosition(new cpVect(0, -240 + radius + 5));
body.SetVelocity(new cpVect(0, 300));
shape = space.AddShape(new cpCircleShape(body, radius, cpVect.Zero));
shape.SetElasticity(0.0f);
shape.SetFriction(0.9f);;
Schedule();
}
public override void OnEnter()
{
base.OnEnter();
space.SetIterations(5);
space.SetDamping(0.1f);
//space.defaultHandler.
cpCollisionHandler handler = space.AddWildcardHandler(COLLISION_TYPE_ONE_WAY);
handler.preSolveFunc = NeverCollide;
//space.def SetDefaultCollisionHandler(space, NeverCollide, NULL, NULL, NULL, NULL);
{
float mass = 1.0f;
float length = 100.0f;
cpVect a = new cpVect(-length / 2.0f, 0.0f), b = new cpVect(length / 2.0f, 0.0f);
cpBody body = space.AddBody(new cpBody(mass, cp.MomentForSegment(mass, a, b, 0.0f)));
body.SetPosition(new cpVect(-160.0f, -80.0f));
space.AddShape(new cpSegmentShape(body, a, b, 30.0f));
}
{
float mass = 1.0f;
float length = 100.0f;
cpVect a = new cpVect(-length / 2.0f, 0.0f), b = new cpVect(length / 2.0f, 0.0f);
cpBody body = space.AddBody(new cpBody(mass, cp.MomentForSegment(mass, a, b, 0.0f)));
body.SetPosition(new cpVect(-160.0f, 80.0f));
space.AddShape(new cpSegmentShape(body, a, b, 20.0f));
}
{
float mass = 1.0f;
int NUM_VERTS = 5;
cpVect[] verts = new cpVect[NUM_VERTS];
for (int i = 0; i < NUM_VERTS; i++)
{
float angle = -2 * cp.M_PI * i / NUM_VERTS;
verts[i] = new cpVect(40 * cp.cpfcos(angle), 40 * cp.cpfsin(angle));
}
cpBody body = space.AddBody(new cpBody(mass, cp.MomentForPoly(mass, NUM_VERTS, verts, cpVect.Zero, 0.0f)));
body.SetPosition(new cpVect(-0.0f, -80.0f));
space.AddShape(new cpPolyShape(body, NUM_VERTS, verts, 0.0f));
}
{
float mass = 1.0f;
int NUM_VERTS = 4;
cpVect[] verts = new cpVect[NUM_VERTS];
for (int i = 0; i < NUM_VERTS; i++)
{
float angle = -2 * cp.M_PI * i / NUM_VERTS;
verts[i] = new cpVect(60 * cp.cpfcos(angle), 60 * cp.cpfsin(angle));
}
cpBody body = space.AddBody(new cpBody(mass, cp.MomentForPoly(mass, NUM_VERTS, verts, cpVect.Zero, 0.0f)));
body.SetPosition(new cpVect(-0.0f, 80.0f));
space.AddShape(new cpPolyShape(body, NUM_VERTS, verts, 0));
}
{
float mass = 1.0f;
float r = 60.0f;
cpBody body = space.AddBody(new cpBody(mass, cp.Infinity));
body.SetPosition(new cpVect(160, -80));
space.AddShape(new cpCircleShape(body, r, cpVect.Zero));
}
{
float mass = 1.0f;
float r = 40.0f;
cpBody body = space.AddBody(new cpBody(mass, cp.Infinity));
body.SetPosition(new cpVect(160, 80));
space.AddShape(new cpCircleShape(body, r, cpVect.Zero));
}
Schedule();
}
public override void OnEnter()
{
base.OnEnter();
SetSubTitle("This unicycle is completely driven and balanced by a single cpSimpleMotor.\nMove the mouse to make the unicycle follow it.");
space.SetIterations(30);
space.SetGravity(new cpVect(0, -500));
{
cpShape shape = null;
cpBody staticBody = space.GetStaticBody();
shape = space.AddShape(new cpSegmentShape(staticBody, new cpVect(-3200, -240), new cpVect(3200, -240), 0.0f));
shape.SetElasticity(1.0f);
shape.SetFriction(1.0f);
shape.SetFilter(NOT_GRABBABLE_FILTER);
shape = space.AddShape(new cpSegmentShape(staticBody, new cpVect(0, -200), new cpVect(240, -240), 0.0f));
shape.SetElasticity(1.0f);
shape.SetFriction(1.0f);
shape.SetFilter(NOT_GRABBABLE_FILTER);
shape = space.AddShape(new cpSegmentShape(staticBody, new cpVect(-240, -240), new cpVect(0, -200), 0.0f));
shape.SetElasticity(1.0f);
shape.SetFriction(1.0f);
shape.SetFilter(NOT_GRABBABLE_FILTER);
}
{
float radius = 20.0f;
float mass = 1.0f;
float moment = cp.MomentForCircle(mass, 0.0f, radius, cpVect.Zero);
wheel_body = space.AddBody(new cpBody(mass, moment));
wheel_body.SetPosition(new cpVect(0.0f, -160.0f + radius));
cpShape shape = space.AddShape(new cpCircleShape(wheel_body, radius, cpVect.Zero));
shape.SetFriction(0.7f);
shape.SetFilter(new cpShapeFilter(1, cp.ALL_CATEGORIES, cp.ALL_CATEGORIES));
}
{
float cog_offset = 30.0f;
cpBB bb1 = new cpBB(-5.0f, 0.0f - cog_offset, 5.0f, cog_offset * 1.2f - cog_offset);
cpBB bb2 = new cpBB(-25.0f, bb1.t, 25.0f, bb1.t + 10.0f);
float mass = 3.0f;
float moment = cp.MomentForBox2(mass, bb1) + cp.MomentForBox2(mass, bb2);
balance_body = space.AddBody(new cpBody(mass, moment));
balance_body.SetPosition(new cpVect(0.0f, wheel_body.GetPosition().y + cog_offset));
cpShape shape = null;
shape = space.AddShape(cpPolyShape.BoxShape2(balance_body, bb1, 0.0f));
shape.SetFriction(1.0f);
shape.SetFilter(new cpShapeFilter(1, cp.ALL_CATEGORIES, cp.ALL_CATEGORIES));
shape = space.AddShape(cpPolyShape.BoxShape2(balance_body, bb2, 0.0f));
shape.SetFriction(1.0f);
shape.SetFilter(new cpShapeFilter(1, cp.ALL_CATEGORIES, cp.ALL_CATEGORIES));
}
cpVect anchorA = balance_body.WorldToLocal(wheel_body.GetPosition());
cpVect groove_a = cpVect.cpvadd(anchorA, new cpVect(0.0f, 30.0f));
cpVect groove_b = cpVect.cpvadd(anchorA, new cpVect(0.0f, -10.0f));
space.AddConstraint(new cpGrooveJoint(balance_body, wheel_body, groove_a, groove_b, cpVect.Zero));
space.AddConstraint(new cpDampedSpring(balance_body, wheel_body, anchorA, cpVect.Zero, 0.0f, 6.0e2f, 30.0f));
motor = space.AddConstraint(new cpSimpleMotor(wheel_body, balance_body, 0.0f));
motor.SetPreSolveFunc((s) => motor_preSolve(motor, s));
{
float width = 100.0f;
float height = 20.0f;
float mass = 3.0f;
cpBody boxBody = space.AddBody(new cpBody(mass, cp.MomentForBox(mass, width, height)));
boxBody.SetPosition(new cpVect(200, -100));
cpShape shape = space.AddShape(cpPolyShape.BoxShape(boxBody, width, height, 0.0f));
shape.SetFriction(0.7f);
}
Schedule();
}
unthreadHelper(cpArbiter arb, cpBody body)
{
public override void OnEnter()
{
base.OnEnter();
SetSubTitle("Use the arrow keys to control the machine.");
space.SetGravity(new cpVect(0, -600));
cpBody staticBody = space.GetStaticBody();
cpShape shape;
// beveling all of the line segments slightly helps prevent things from getting stuck on cracks
shape = space.AddShape(new cpSegmentShape(staticBody, new cpVect(-256, 16), new cpVect(-256, 300), 2.0f));
shape.SetElasticity(0.0f);
shape.SetFriction(0.5f);
shape.SetFilter(NOT_GRABBABLE_FILTER);
shape = space.AddShape(new cpSegmentShape(staticBody, new cpVect(-256, 16), new cpVect(-192, 0), 2.0f));
shape.SetElasticity(0.0f);
shape.SetElasticity(0.0f);
shape.SetFriction(0.5f);
shape.SetFilter(NOT_GRABBABLE_FILTER);
shape = space.AddShape(new cpSegmentShape(staticBody, new cpVect(-192, 0), new cpVect(-192, -64), 2.0f));
shape.SetElasticity(0.0f);
shape.SetFriction(0.5f);
shape.SetFilter(NOT_GRABBABLE_FILTER);
shape = space.AddShape(new cpSegmentShape(staticBody, new cpVect(-128, -64), new cpVect(-128, 144), 2.0f));
shape.SetElasticity(0.0f);
shape.SetFriction(0.5f);
shape.SetFilter(NOT_GRABBABLE_FILTER);
shape = space.AddShape(new cpSegmentShape(staticBody, new cpVect(-192, 80), new cpVect(-192, 176), 2.0f));
shape.SetElasticity(0.0f);
shape.SetFriction(0.5f);
shape.SetFilter(NOT_GRABBABLE_FILTER);
shape = space.AddShape(new cpSegmentShape(staticBody, new cpVect(-192, 176), new cpVect(-128, 240), 2.0f));
shape.SetElasticity(0.0f);
shape.SetFriction(0.5f);
shape.SetFilter(NOT_GRABBABLE_FILTER);
shape = space.AddShape(new cpSegmentShape(staticBody, new cpVect(-128, 144), new cpVect(192, 64), 2.0f));
shape.SetElasticity(0.0f);
shape.SetFriction(0.5f);
shape.SetFilter(NOT_GRABBABLE_FILTER);
cpVect[] verts = new cpVect[] {
new cpVect(-30, -80),
new cpVect(-30, 80),
new cpVect(30, 64),
new cpVect(30, -80),
};
cpBody plunger = space.AddBody(new cpBody(1.0f, cp.Infinity));
plunger.SetPosition(new cpVect(-160, -80));
shape = space.AddShape(new cpPolyShape(plunger, 4, verts, cpTransform.Identity, 0));
shape.SetElasticity(1.0f);
shape.SetFriction(0.5f);
shape.SetFilter(new cpShapeFilter(cp.NO_GROUP, 1, 1));
balls = new cpBody[numBalls];
// add balls to hopper
for (int i = 0; i < numBalls; i++)
{
balls[i] = add_ball(space, new cpVect(-224 + i, 80 + 64 * i));
}
// add small gear
cpBody smallGear = space.AddBody(new cpBody(10.0f, cp.MomentForCircle(10.0f, 80, 0, cpVect.Zero)));
smallGear.SetPosition(new cpVect(-160, -160));
smallGear.SetAngle(-cp.M_PI_2);
shape = space.AddShape(new cpCircleShape(smallGear, 80.0f, cpVect.Zero));
shape.SetFilter(cpShape.FILTER_NONE);
space.AddConstraint(new cpPivotJoint(staticBody, smallGear, new cpVect(-160, -160), cpVect.Zero));
// add big gear
cpBody bigGear = space.AddBody(new cpBody(40.0f, cp.MomentForCircle(40.0f, 160, 0, cpVect.Zero)));
bigGear.SetPosition(new cpVect(80, -160));
bigGear.SetAngle(cp.M_PI_2);
shape = space.AddShape(new cpCircleShape(bigGear, 160.0f, cpVect.Zero));
shape.SetFilter(cpShape.FILTER_NONE);
space.AddConstraint(new cpPivotJoint(staticBody, bigGear, new cpVect(80, -160), cpVect.Zero));
// connect the plunger to the small gear.
space.AddConstraint(new cpPinJoint(smallGear, plunger, new cpVect(80, 0), new cpVect(0, 0)));
// connect the gears.
space.AddConstraint(new cpGearJoint(smallGear, bigGear, -cp.M_PI_2, -2.0f));
// feeder mechanism
float bottom = -300.0f;
float top = 32.0f;
cpBody feeder = space.AddBody(new cpBody(1.0f, cp.MomentForSegment(1.0f, new cpVect(-224.0f, bottom), new cpVect(-224.0f, top), 0.0f)));
feeder.SetPosition(new cpVect(-224, (bottom + top) / 2.0f));
float len = top - bottom;
shape = space.AddShape(new cpSegmentShape(feeder, new cpVect(0.0f, len / 2.0f), new cpVect(0.0f, -len / 2.0f), 20.0f));
shape.SetFilter(GRAB_FILTER);
space.AddConstraint(new cpPivotJoint(staticBody, feeder, new cpVect(-224.0f, bottom), new cpVect(0.0f, -len / 2.0f)));
cpVect anchr = feeder.WorldToLocal(new cpVect(-224.0f, -160.0f));
space.AddConstraint(new cpPinJoint(feeder, smallGear, anchr, new cpVect(0.0f, 80.0f)));
// motorize the second gear
motor = space.AddConstraint(new cpSimpleMotor(staticBody, bigGear, 3.0f));
Schedule();
}
public cpBall(cpBody body, float radius, cpVect offset)
: base(body, radius, offset)
{
}
public void ScaleIterator(cpBody body, cpArbiter arb, ref cpVect sum)
{
sum = cpVect.cpvadd(sum, arb.TotalImpulse());
}
cpSlideJointInit(cpSlideJoint *joint, cpBody a, cpBody b, cpVect anchr1, cpVect anchr2, double min, double max)
{
cpConstraintInit((cpConstraint )joint, &klass, a, b);
joint.anchr1 = anchr1;
joint.anchr2 = anchr2;
joint.min = min;
joint.max = max;
joint.jnAcc = 0.0f;
return joint;
}
cpBodyResetForces(cpBody body)
{
cpBodyActivate(body);
body.f = cpvzero;
body.t = 0.0f;
}
public CCMouse()
{
mouseBody = cpBody.NewKinematic();
Position = cpVect.Zero;
}
cpBodySetPos(cpBody body, cpVect pos)
{
cpBodyActivate(body);
body.p = pos;
cpBodyAssertSane(body);
}
public override void OnEnter()
{
base.OnEnter();
space.SetIterations(10);
space.SetGravity(new cpVect(0, -GRAVITY));
// space.sleepTimeThreshold = 1000;
cpBody body, staticBody = space.GetStaticBody();
cpShape shape;
// Create segments around the edge of the screen.
shape = space.AddShape(new cpSegmentShape(staticBody, new cpVect(-320, -240), new cpVect(-320, 240), 0.0f));
shape.SetElasticity(1.0f); shape.SetFriction(1.0f);
shape.SetFilter(NOT_GRABBABLE_FILTER);
shape = space.AddShape(new cpSegmentShape(staticBody, new cpVect(320, -240), new cpVect(320, 240), 0.0f));
shape.SetElasticity(1.0f); shape.SetFriction(1.0f);
shape.SetFilter(NOT_GRABBABLE_FILTER);
shape = space.AddShape(new cpSegmentShape(staticBody, new cpVect(-320, -240), new cpVect(320, -240), 0.0f));
shape.SetElasticity(1.0f); shape.SetFriction(1.0f);
shape.SetFilter(NOT_GRABBABLE_FILTER);
shape = space.AddShape(new cpSegmentShape(staticBody, new cpVect(-320, 240), new cpVect(320, 240), 0.0f));
shape.SetElasticity(1.0f); shape.SetFriction(1.0f);
shape.SetFilter(NOT_GRABBABLE_FILTER);
// Set up the player
body = space.AddBody(new cpBody(1.0f, cp.Infinity));
body.p = new cpVect(0, -200);
body.SetVelocityUpdateFunc(
(gravity, damping, dt) =>
playerUpdateVelocity(body, gravity, damping, dt)
);
playerBody = body;
shape = space.AddShape(cpPolyShape.BoxShape2(body, new cpBB(-15, -27.5f, 15, 27.5f), 10f));
shape.e = 0.0f; shape.u = 0.0f;
shape.type = 1;
playerShape = shape;
// Add some boxes to jump on
for (int i = 0; i < 6; i++)
{
for (int j = 0; j < 3; j++)
{
body = space.AddBody(new cpBody(4.0f, cp.Infinity));
body.p = new cpVect(100 + j * 60, -200 + i * 60);
shape = space.AddShape(cpPolyShape.BoxShape(body, 50, 50, 0));
shape.e = 0.0f;
shape.u = 0.7f;
}
}
Schedule();
}
cpBodyRemoveConstraint(cpBody body, cpConstraint constraint)
{
body.constraintList = filterConstraints(body.constraintList, body, constraint);
}
public cpPivotJoint(cpBody a, cpBody b, cpVect pivot)
: this(a, b,
(a != null ? a.WorldToLocal(pivot) : pivot),
(b != null ? b.WorldToLocal(pivot) : pivot))
{
}
cpBodyUpdateVelocity(cpBody body, cpVect gravity, double damping, double dt)
{
body.v = cpvclamp(cpVect.Add(cpVect.Multiply(body.v, damping), cpVect.Multiply(cpVect.Add(gravity, cpVect.Multiply(body.f, body.m_inv)), dt)), body.v_limit);
double w_limit = body.w_limit;
body.w = cpfclamp(body.w*damping + body.t*body.i_inv*dt, -w_limit, w_limit);
cpBodySanityCheck(body);
}
protected override void OnAwake()
{
base.OnAwake();
Vector2 pos = this.transform.position;//static body(0,0) should add postion , Dynamic use Rigidbody position as parent
XRigidbody2D xRigidbody2D = this.GetComponent <XRigidbody2D>();
if (xRigidbody2D != null)
{
if (xRigidbody2D.mBodyType != cpBodyType.STATIC)
{
xRigidbody2D.Init();
mRigidbody2D = xRigidbody2D.Rigidbody2D;
pos = Vector2.zero;
}
else
{
mRigidbody2D = XSpaceManager.Instance.Space.GetStaticBody();
}
}
else
{
//静态的，不能移动
mRigidbody2D = XSpaceManager.Instance.Space.GetStaticBody();
}
//local
Vector2 left, bottom, right, top;
Quaternion rotation;
switch (mShapeType)
{
case ColliderType.Segment:
float angle = Vector2.Angle(this.mEnd - this.mStart, Vector2.right);
rotation = Quaternion.AngleAxis(angle + this.transform.eulerAngles.z, Vector3.forward);
left = rotation * new Vector2(this.mStart.x, this.mStart.y - this.mRadius);
bottom = rotation * new Vector2(this.mEnd.x, this.mEnd.y - this.mRadius);
right = rotation * new Vector2(this.mEnd.x, this.mEnd.y + this.mRadius);
top = rotation * new Vector2(this.mStart.x, this.mStart.y + this.mRadius);
Vector2 start = (Vector2)pos + (left + top) / 2;
Vector2 end = (Vector2)pos + (bottom + right) / 2;
mCollider2D = new cpSegmentShape(mRigidbody2D, new cpVect(start.x, start.y) * XSpaceManager.PixelsPerUnit, new cpVect(end.x, end.y) * XSpaceManager.PixelsPerUnit, mRadius * XSpaceManager.PixelsPerUnit);
break;
case ColliderType.Circle:
mCollider2D = new cpCircleShape(mRigidbody2D, mRadius * XSpaceManager.PixelsPerUnit, new cpVect(pos.x + mCenter.x, pos.y + mCenter.y) * XSpaceManager.PixelsPerUnit);
break;
case ColliderType.Box:
mCollider2D = cpPolyShape.BoxShape2(mRigidbody2D, new cpBB((pos.x + mCenter.x - mSize.x * this.transform.localScale.x / 2) * XSpaceManager.PixelsPerUnit, (pos.y + mCenter.y - mSize.y * this.transform.localScale.y / 2) * XSpaceManager.PixelsPerUnit, (pos.x + mCenter.x + mSize.x * this.transform.localScale.x / 2) * XSpaceManager.PixelsPerUnit, (pos.y + mCenter.y + mSize.y * this.transform.localScale.y / 2) * XSpaceManager.PixelsPerUnit), mRadius * XSpaceManager.PixelsPerUnit);
break;
case ColliderType.Polygon:
int count = mVects.Length;
cpVect [] vts = new cpVect [mVects.Length];
for (int i = 0; i < count; i++)
{
vts[i] = cpVect.Zero;
vts[i].x = (pos.x + mVects[i].x) * XSpaceManager.PixelsPerUnit;
vts[i].y = (pos.y + mVects[i].y) * XSpaceManager.PixelsPerUnit;
}
mCollider2D = new cpPolyShape(mRigidbody2D, mVects.Length, vts, mRadius * XSpaceManager.PixelsPerUnit);
break;
//case cpShapeType.NumShapes:
// break;
}
mCollider2D.SetSensor(mTrigger);
mCollider2D.SetElasticity(mElasticity);
mCollider2D.SetFriction(mFriction);
cpShapeFilter filter = new cpShapeFilter(mGroup, (int)mCategory, (int)mMask);
mCollider2D.SetFilter(filter);
}
public bool waterPreSolve(cpArbiter arb, cpSpace space, object o)
{
cpShape obj1, obj2;
arb.GetShapes(out obj1, out obj2);
cpPolyShape water = obj1 as cpPolyShape;
cpPolyShape poly = obj2 as cpPolyShape;
cpBody body = poly.GetBody();
float level = water.GetBB().t; // cpShapeGetBB().t;
int count = poly.Count; //cpPolyShapeGetCount(poly.g);
int clippedCount = 0;
cpVect[] clipped = new cpVect[10];
for (int i = 0, j = count - 1; i < count; j = i, i++)
{
cpVect a = body.LocalToWorld(poly.GetVert(j));
cpVect b = body.LocalToWorld(poly.GetVert(i));
if (a.y < level)
{
clipped[clippedCount] = a;
clippedCount++;
}
float a_level = a.y - level;
float b_level = b.y - level;
if (a_level * b_level < 0.0f)
{
float t = cp.cpfabs(a_level) / (cp.cpfabs(a_level) + cp.cpfabs(b_level));
clipped[clippedCount] = cpVect.cpvlerp(a, b, t);
clippedCount++;
}
}
// Calculate buoyancy from the clipped polygon area
float clippedArea = cp.AreaForPoly(clippedCount, clipped, 0.0f);
float displacedMass = clippedArea * FLUID_DENSITY;
cpVect centroid = cp.CentroidForPoly(clippedCount, clipped);
//ChipmunkDebugDrawPolygon(clippedCount, clipped, 0.0f, RGBAColor(0, 0, 1, 1), RGBAColor(0, 0, 1, 0.1f));
//ChipmunkDebugDrawDot(5, centroid, RGBAColor(0, 0, 1, 1));
float dt = space.GetCurrentTimeStep();
cpVect g = space.GetGravity();
// Apply the buoyancy force as an impulse.
body.ApplyImpulseAtWorldPoint(cpVect.cpvmult(g, -displacedMass * dt), centroid);
// Apply linear damping for the fluid drag.
cpVect v_centroid = body.GetVelocityAtWorldPoint(centroid);
float k = k_scalar_body(body, centroid, cpVect.cpvnormalize(v_centroid));
float damping = clippedArea * FLUID_DRAG * FLUID_DENSITY;
float v_coef = cp.cpfexp(-damping * dt * k); // linear drag
// cpfloat v_coef = 1.0/(1.0 + damping*dt*cpvlength(v_centroid)*k); // quadratic drag
body.ApplyImpulseAtWorldPoint(cpVect.cpvmult(cpVect.cpvsub(cpVect.cpvmult(v_centroid, v_coef), v_centroid), 1.0f / k), centroid);
// Apply angular damping for the fluid drag.
cpVect cog = body.LocalToWorld(body.GetCenterOfGravity());
float w_damping = cp.MomentForPoly(FLUID_DRAG * FLUID_DENSITY * clippedArea, clippedCount, clipped, cpVect.cpvneg(cog), 0.0f);
body.SetAngularVelocity(body.GetAngularVelocity() * cp.cpfexp(-w_damping * dt / body.GetMoment()));
return(true);
}
cpSlideJointNew(cpBody a, cpBody b, cpVect anchr1, cpVect anchr2, double min, double max)
{
return (cpConstraint )cpSlideJointInit(cpSlideJointAlloc(), a, b, anchr1, anchr2, min, max);
}
public override void OnEnter()
{
base.OnEnter();
Position = new CCPoint(100, 100);
space.SetIterations(10);
space.SetGravity(new cpVect(0, -100));
space.SetSleepTimeThreshold(0.5f);
cpBody staticBody = space.GetStaticBody(); // staticBody;
cpShape shape;
for (var y = 480; y >= 0; y -= 120)
{
shape = space.AddShape(new cpSegmentShape(staticBody, new cpVect(0, y), new cpVect(640, y), 0));
shape.SetElasticity(1);
shape.SetFriction(1);
shape.SetFilter(NOT_GRABBABLE_FILTER);
}
for (var x = 0; x <= 640; x += 160)
{
shape = space.AddShape(new cpSegmentShape(staticBody, new cpVect(x, 0), new cpVect(x, 480), 0));
shape.SetElasticity(1);
shape.SetFriction(1);
shape.SetFilter(NOT_GRABBABLE_FILTER);
}
cpBody body1, body2;
var posA = new cpVect(50, 60);
var posB = new cpVect(110, 60);
var POS_A = new Func <cpVect>(() => { return(cpVect.cpvadd(boxOffset, posA)); });
var POS_B = new Func <cpVect>(() => { return(cpVect.cpvadd(boxOffset, posB)); });
// Keeps the anchor points the same distance apart from when the joint was created.
boxOffset = new cpVect(0, 0);
label("Pin Joint");
body1 = addBall(posA);
body2 = addBall(posB);
body2.SetAngle((float)Math.PI);
space.AddConstraint(new cpPinJoint(body1, body2, new cpVect(15, 0), new cpVect(15, 0)));
// Slide Joints - Like pin joints but with a min/max distance.
// Can be used for a cheap approximation of a rope.
boxOffset = new cpVect(160, 0);
label("Slide Joint");
body1 = addBall(posA);
body2 = addBall(posB);
body2.SetAngle((float)Math.PI);
space.AddConstraint(new cpSlideJoint(body1, body2, new cpVect(15, 0), new cpVect(15, 0), 20, 40));
// Pivot Joints - Holds the two anchor points together. Like a swivel.
boxOffset = new cpVect(320, 0);
label("Pivot Joint");
body1 = addBall(posA);
body2 = addBall(posB);
body2.SetAngle((float)Math.PI);
// Alternately, specify two anchor points using cp.PivotJoint(a, b, anch1, anch2)
space.AddConstraint(new cpPivotJoint(body1, body2, cpVect.cpvadd(boxOffset, new cpVect(80, 60))));
// Groove Joints - Like a pivot joint, but one of the anchors is a line segment that the pivot can slide in
boxOffset = new cpVect(480, 0);
label("Groove Joint");
body1 = addBall(posA);
body2 = addBall(posB);
space.AddConstraint(new cpGrooveJoint(body1, body2, new cpVect(30, 30), new cpVect(30, -30), new cpVect(-30, 0)));
// Damped Springs
boxOffset = new cpVect(0, 120);
label("Damped Spring");
body1 = addBall(posA);
body2 = addBall(posB);
body2.SetAngle((float)Math.PI);
space.AddConstraint(new cpDampedSpring(body1, body2, new cpVect(15, 0), new cpVect(15, 0), 20, 5, 0.3f));
// Damped Rotary Springs
boxOffset = new cpVect(160, 120);
label("Damped Rotary Spring");
body1 = addBar(posA);
body2 = addBar(posB);
// Add some pin joints to hold the circles in place.
space.AddConstraint(new cpPivotJoint(body1, staticBody, POS_A()));
space.AddConstraint(new cpPivotJoint(body2, staticBody, POS_B()));
space.AddConstraint(new cpDampedRotarySpring(body1, body2, 0, 3000, 60));
// Rotary Limit Joint
boxOffset = new cpVect(320, 120);
label("Rotary Limit Joint");
body1 = addLever(posA);
body2 = addLever(posB);
// Add some pin joints to hold the circles in place.
space.AddConstraint(new cpPivotJoint(body1, staticBody, POS_A()));
space.AddConstraint(new cpPivotJoint(body2, staticBody, POS_B()));
// Hold their rotation within 90 degrees of each other.
space.AddConstraint(new cpRotaryLimitJoint(body1, body2, -(float)Math.PI / 2, (float)Math.PI / 2));
// Ratchet Joint - A rotary ratchet, like a socket wrench
boxOffset = new cpVect(480, 120);
label("Ratchet Joint");
body1 = addLever(posA);
body2 = addLever(posB);
// Add some pin joints to hold the circles in place.
space.AddConstraint(new cpPivotJoint(body1, staticBody, POS_A()));
space.AddConstraint(new cpPivotJoint(body2, staticBody, POS_B()));
// Ratchet every 90 degrees
space.AddConstraint(new cpRatchetJoint(body1, body2, 0, (float)Math.PI / 2f));
// Gear Joint - Maintain a specific angular velocity ratio
boxOffset = new cpVect(0, 240);
label("Gear Joint");
body1 = addBar(posA);
body2 = addBar(posB);
// Add some pin joints to hold the circles in place.
space.AddConstraint(new cpPivotJoint(body1, staticBody, POS_A()));
space.AddConstraint(new cpPivotJoint(body2, staticBody, POS_B()));
// Force one to sping 2x as fast as the other
space.AddConstraint(new cpGearJoint(body1, body2, 0, 2));
// Simple Motor - Maintain a specific angular relative velocity
boxOffset = new cpVect(160, 240);
label("Simple Motor");
body1 = addBar(posA);
body2 = addBar(posB);
// Add some pin joints to hold the circles in place.
space.AddConstraint(new cpPivotJoint(body1, staticBody, POS_A()));
space.AddConstraint(new cpPivotJoint(body2, staticBody, POS_B()));
// Make them spin at 1/2 revolution per second in relation to each other.
space.AddConstraint(new cpSimpleMotor(body1, body2, (float)Math.PI));
// Make a car with some nice soft suspension
boxOffset = new cpVect(320, 240);
var wheel1 = addWheel(posA);
var wheel2 = addWheel(posB);
var chassis = addChassis(new cpVect(80, 100));
space.AddConstraint(new cpGrooveJoint(chassis, wheel1, new cpVect(-30, -10), new cpVect(-30, -40), new cpVect(0, 0)));
space.AddConstraint(new cpGrooveJoint(chassis, wheel2, new cpVect(30, -10), new cpVect(30, -40), new cpVect(0, 0)));
space.AddConstraint(new cpDampedSpring(chassis, wheel1, new cpVect(-30, 0), new cpVect(0, 0), 50, 20, 10));
space.AddConstraint(new cpDampedSpring(chassis, wheel2, new cpVect(30, 0), new cpVect(0, 0), 50, 20, 10));
Schedule();
}
public override void OnEnter()
{
base.OnEnter();
platformInstance = new OneWayPlatform();
SetSubTitle("One way platforms are trivial in Chipmunk using a very simple collision callback.");
space.SetIterations(10);
space.SetGravity(new cpVect(0, -100));
cpBody body, staticBody = space.GetStaticBody();
cpShape shape;
// Create segments around the edge of the screen.
shape = space.AddShape(new cpSegmentShape(staticBody, new cpVect(-320, -240), new cpVect(-320, 240), 0.0f));
shape.SetElasticity(1.0f);
shape.SetFriction(1.0f);
shape.SetFilter(NOT_GRABBABLE_FILTER);
shape = space.AddShape(new cpSegmentShape(staticBody, new cpVect(320, -240), new cpVect(320, 240), 0.0f));
shape.SetElasticity(1.0f);
shape.SetFriction(1.0f);
shape.SetFilter(NOT_GRABBABLE_FILTER);
shape = space.AddShape(new cpSegmentShape(staticBody, new cpVect(-320, -240), new cpVect(320, -240), 0.0f));
shape.SetElasticity(1.0f);
shape.SetFriction(1.0f);
shape.SetFilter(NOT_GRABBABLE_FILTER);
// Add our one way segment
shape = space.AddShape(new cpSegmentShape(staticBody, new cpVect(-160, -100), new cpVect(160, -100), 10.0f));
shape.SetElasticity(1.0f);
shape.SetFriction(1.0f);
shape.SetCollisionType(COLLISION_TYPE_ONE_WAY);
shape.SetFilter(NOT_GRABBABLE_FILTER);
// We'll use the data pointer for the OneWayPlatform struct
platformInstance.n = new cpVect(0, 1); // let objects pass upwards
shape.userData = platformInstance;
// Add a ball to test it out
float radius = 15.0f;
body = space.AddBody(new cpBody(10.0f, cp.MomentForCircle(10.0f, 0.0f, radius, cpVect.Zero)));
body.SetPosition(new cpVect(0, -200));
body.SetVelocity(new cpVect(0, 170));
shape = space.AddShape(new cpCircleShape(body, radius, cpVect.Zero));
shape.SetElasticity(0.0f);
shape.SetFriction(0.9f);
shape.SetCollisionType(2);
cpCollisionHandler handler = space.AddWildcardHandler(COLLISION_TYPE_ONE_WAY);
handler.preSolveFunc = preSolve;
Schedule();
}
public override void OnEnter()
{
base.OnEnter();
space.SetIterations(30);
space.SetGravity(new cpVect(0, -500));
space.SetSleepTimeThreshold(0.5f);
space.SetCollisionSlop(0.5f);
var staticBody = space.GetStaticBody();
// Create segments around the edge of the screen.
var shape = space.AddShape(new cpSegmentShape(staticBody, new cpVect(-320, -240), new cpVect(-320, 240), 0.0f));
shape.SetElasticity(1.0f);
shape.SetFriction(1.0f);
shape.SetFilter(NOT_GRABBABLE_FILTER);
shape = space.AddShape(new cpSegmentShape(staticBody, new cpVect(320, -240), new cpVect(320, 240), 0.0f));
shape.SetElasticity(1.0f);
shape.SetFriction(1.0f);
shape.SetFilter(NOT_GRABBABLE_FILTER);
shape = space.AddShape(new cpSegmentShape(staticBody, new cpVect(-320, -240), new cpVect(320, -240), 0.0f));
shape.SetElasticity(1.0f);
shape.SetFriction(1.0f);
shape.SetFilter(NOT_GRABBABLE_FILTER);
shape = space.AddShape(new cpSegmentShape(staticBody, new cpVect(-320, 240), new cpVect(320, 240), 0.0f));
shape.SetElasticity(1.0f);
shape.SetFriction(1.0f);
shape.SetFilter(NOT_GRABBABLE_FILTER);
{
// Add the edges of the bucket
var bb = new cpBB(-300, -200, 100, 0);
var radius = 5.0f;
shape = space.AddShape(new cpSegmentShape(staticBody, new cpVect(bb.l, bb.b), new cpVect(bb.l, bb.t), radius));
shape.SetElasticity(1.0f);
shape.SetFriction(1.0f);
shape.SetFilter(NOT_GRABBABLE_FILTER);
shape = space.AddShape(new cpSegmentShape(staticBody, new cpVect(bb.r, bb.b), new cpVect(bb.r, bb.t), radius));
shape.SetElasticity(1.0f);
shape.SetFriction(1.0f);
shape.SetFilter(NOT_GRABBABLE_FILTER);
shape = space.AddShape(new cpSegmentShape(staticBody, new cpVect(bb.l, bb.b), new cpVect(bb.r, bb.b), radius));
shape.SetElasticity(1.0f);
shape.SetFriction(1.0f);
shape.SetFilter(NOT_GRABBABLE_FILTER);
// Add the sensor for the water.
shape = space.AddShape(cpPolyShape.BoxShape2(staticBody, bb, 0.0f));
shape.SetSensor(true);
shape.SetCollisionType(1);
}
{
float width = 200.0f;
float height = 50.0f;
float mass = 0.3f * FLUID_DENSITY * width * height;
var moment = cp.MomentForBox(mass, width, height);
cpBody body = space.AddBody(new cpBody(mass, moment));
body.SetPosition(new cpVect(-50, -100));
body.SetVelocity(new cpVect(0, -100));
body.SetAngularVelocity(1);
shape = space.AddShape(cpPolyShape.BoxShape(body, width, height, 0.0f));
shape.SetFriction(0.8f);
}
{
float width = 40.0f;
float height = width * 2;
float mass = 0.3f * FLUID_DENSITY * width * height;
float moment = cp.MomentForBox(mass, width, height);
cpBody body = space.AddBody(new cpBody(mass, moment));
body.SetPosition(new cpVect(-200, -50));
body.SetVelocity(new cpVect(0, -100));
body.SetAngularVelocity(1);
shape = space.AddShape(cpPolyShape.BoxShape(body, width, height, 0.0f));
shape.SetFriction(0.8f);
}
cpCollisionHandler handler = space.AddCollisionHandler(1, 0);
handler.preSolveFunc = waterPreSolve;
Schedule();
}