public Web()
{
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = m_world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.5f, 0.5f);
BodyDef bd = new BodyDef();
bd.BodyType = BodyType.Dynamic;
bd.Position = new Vec2(-5.0f, 5.0f);
m_bodies[0] = m_world.CreateBody(bd);
m_bodies[0].CreateFixture(shape, 5.0f);
bd.Position = new Vec2(5.0f, 5.0f);
m_bodies[1] = m_world.CreateBody(bd);
m_bodies[1].CreateFixture(shape, 5.0f);
bd.Position = new Vec2(5.0f, 15.0f);
m_bodies[2] = m_world.CreateBody(bd);
m_bodies[2].CreateFixture(shape, 5.0f);
bd.Position = new Vec2(-5.0f, 15.0f);
m_bodies[3] = m_world.CreateBody(bd);
m_bodies[3].CreateFixture(shape, 5.0f);
DistanceJointDef jd = new DistanceJointDef();
Vec2 p1, p2, d;
jd.FrequencyHz = 4.0f;
jd.DampingRatio = 0.5f;
jd.BodyA = ground;
jd.BodyB = m_bodies[0];
jd.LocalAnchorA = new Vec2(-10.0f, 0.0f);
jd.LocalAnchorB = new Vec2(-0.5f, -0.5f);
p1 = jd.BodyA.GetWorldPoint(jd.LocalAnchorA);
p2 = jd.BodyB.GetWorldPoint(jd.LocalAnchorB);
d = p2 - p1;
jd.Length = d.Length();
m_joints[0] = m_world.CreateJoint(jd);
jd.BodyA = ground;
jd.BodyB = m_bodies[1];
jd.LocalAnchorA = new Vec2(10.0f, 0.0f);
jd.LocalAnchorB = new Vec2(0.5f, -0.5f);
p1 = jd.BodyA.GetWorldPoint(jd.LocalAnchorA);
p2 = jd.BodyB.GetWorldPoint(jd.LocalAnchorB);
d = p2 - p1;
jd.Length = d.Length();
m_joints[1] = m_world.CreateJoint(jd);
jd.BodyA = ground;
jd.BodyB = m_bodies[2];
jd.LocalAnchorA = new Vec2(10.0f, 20.0f);
jd.LocalAnchorB = new Vec2(0.5f, 0.5f);
p1 = jd.BodyA.GetWorldPoint(jd.LocalAnchorA);
p2 = jd.BodyB.GetWorldPoint(jd.LocalAnchorB);
d = p2 - p1;
jd.Length = d.Length();
m_joints[2] = m_world.CreateJoint(jd);
jd.BodyA = ground;
jd.BodyB = m_bodies[3];
jd.LocalAnchorA = new Vec2(-10.0f, 20.0f);
jd.LocalAnchorB = new Vec2(-0.5f, 0.5f);
p1 = jd.BodyA.GetWorldPoint(jd.LocalAnchorA);
p2 = jd.BodyB.GetWorldPoint(jd.LocalAnchorB);
d = p2 - p1;
jd.Length = d.Length();
m_joints[3] = m_world.CreateJoint(jd);
jd.BodyA = m_bodies[0];
jd.BodyB = m_bodies[1];
jd.LocalAnchorA = new Vec2(0.5f, 0.0f);
jd.LocalAnchorB = new Vec2(-0.5f, 0.0f);;
p1 = jd.BodyA.GetWorldPoint(jd.LocalAnchorA);
p2 = jd.BodyB.GetWorldPoint(jd.LocalAnchorB);
d = p2 - p1;
jd.Length = d.Length();
m_joints[4] = m_world.CreateJoint(jd);
jd.BodyA = m_bodies[1];
jd.BodyB = m_bodies[2];
jd.LocalAnchorA = new Vec2(0.0f, 0.5f);
jd.LocalAnchorB = new Vec2(0.0f, -0.5f);
p1 = jd.BodyA.GetWorldPoint(jd.LocalAnchorA);
p2 = jd.BodyB.GetWorldPoint(jd.LocalAnchorB);
d = p2 - p1;
jd.Length = d.Length();
m_joints[5] = m_world.CreateJoint(jd);
jd.BodyA = m_bodies[2];
jd.BodyB = m_bodies[3];
jd.LocalAnchorA = new Vec2(-0.5f, 0.0f);
jd.LocalAnchorB = new Vec2(0.5f, 0.0f);
p1 = jd.BodyA.GetWorldPoint(jd.LocalAnchorA);
p2 = jd.BodyB.GetWorldPoint(jd.LocalAnchorB);
d = p2 - p1;
jd.Length = d.Length();
m_joints[6] = m_world.CreateJoint(jd);
jd.BodyA = m_bodies[3];
jd.BodyB = m_bodies[0];
jd.LocalAnchorA = new Vec2(0.0f, -0.5f);
jd.LocalAnchorB = new Vec2(0.0f, 0.5f);
p1 = jd.BodyA.GetWorldPoint(jd.LocalAnchorA);
p2 = jd.BodyB.GetWorldPoint(jd.LocalAnchorB);
d = p2 - p1;
jd.Length = d.Length();
m_joints[7] = m_world.CreateJoint(jd);
}
}
public Dominos()
{
Body b1 = m_world.CreateBody(new BodyDef());
b1.CreateFixture(new PolygonShape(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f)), 0.0f);
b1.UserData = 1;
{
Body ground = m_world.CreateBody(new BodyDef(BodyType.Static, new Vec2(-1.5f, 10.0f)));
ground.CreateFixture(new PolygonShape(6.0f, 0.25f), 0.0f);
ground.UserData = "ground";
}
for (int i = 0; i < 10; ++i)
{
Body body = m_world.CreateBody(new BodyDef(BodyType.Dynamic, new Vec2(-6.0f + 1.0f * i, 11.25f), 0));
body.CreateFixture(new FixtureDef(new PolygonShape(0.1f, 1.0f), 20.0f, 0.0f, 0.1f));
body.UserData = "domino " + i.ToString();
}
{
Body ground = m_world.CreateBody(new BodyDef(BodyType.Static, new Vec2(1.0f, 6.0f)));
ground.CreateFixture(new PolygonShape(7.0f, 0.25f, Vec2.Empty, 0.3f), 0.0f);
ground.UserData = "ground";
}
Body b2;
{
b2 = m_world.CreateBody(new BodyDef(BodyType.Static, new Vec2(-7.0f, 4.0f)));
b2.CreateFixture(new PolygonShape(0.25f, 1.5f), 0.0f);
b2.UserData = b2;
}
Body b3;
{
b3 = m_world.CreateBody(new BodyDef(BodyType.Dynamic, new Vec2(-0.9f, 1.0f), -0.15f));
b3.CreateFixture(new PolygonShape(6.0f, 0.125f), 10.0f);
b3.UserData = 3;
}
RevoluteJointDef jd = new RevoluteJointDef();
Vec2 anchor = new Vec2(-2.0f, 1.0f);
jd.Initialize(b1, b3, anchor);
jd.CollideConnected = true;
m_world.CreateJoint(jd);
Body b4;
{
b4 = m_world.CreateBody(new BodyDef(BodyType.Dynamic, new Vec2(-10.0f, 15.0f)));
b4.CreateFixture(new PolygonShape(0.25f, 0.25f), 10.0f);
b4.UserData = 4;
}
anchor = new Vec2(-7.0f, 15.0f);
jd.Initialize(b2, b4, anchor);
m_world.CreateJoint(jd);
Body b5;
{
b5 = m_world.CreateBody(new BodyDef(BodyType.Dynamic, new Vec2(6.5f, 3.0f)));
b5.CreateFixture(new FixtureDef(new PolygonShape(1.0f, 0.1f, new Vec2(0.0f, -0.9f), 0.0f), 10.0f, 0.0f, 0.1f));
b5.CreateFixture(new FixtureDef(new PolygonShape(0.1f, 1.0f, new Vec2(-0.9f, 0.0f), 0.0f), 10.0f, 0.0f, 0.1f));
b5.CreateFixture(new FixtureDef(new PolygonShape(0.1f, 1.0f, new Vec2(0.9f, 0.0f), 0.0f), 10.0f, 0.0f, 0.1f));
b5.UserData = 5;
}
anchor = new Vec2(6.0f, 2.0f);
jd.Initialize(b1, b5, anchor);
m_world.CreateJoint(jd);
Body b6;
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(1.0f, 0.1f);
BodyDef bd = new BodyDef();
bd.BodyType = BodyType.Dynamic;
bd.Position = new Vec2(6.5f, 4.1f);
b6 = m_world.CreateBody(bd);
b6.CreateFixture(shape, 30.0f);
b6.UserData = 6;
}
anchor = new Vec2(7.5f, 4.0f);
jd.Initialize(b5, b6, anchor);
m_world.CreateJoint(jd);
Body b7;
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.1f, 1.0f);
BodyDef bd = new BodyDef();
bd.BodyType = BodyType.Dynamic;
bd.Position = new Vec2(7.4f, 1.0f);
b7 = m_world.CreateBody(bd);
b7.CreateFixture(shape, 10.0f);
b7.UserData = 7;
}
DistanceJointDef djd = new DistanceJointDef();
djd.BodyA = b3;
djd.BodyB = b7;
djd.LocalAnchorA = new Vec2(6.0f, 0.0f);
djd.LocalAnchorB = new Vec2(0.0f, -1.0f);
Vec2 d = djd.BodyB.GetWorldPoint(djd.LocalAnchorB) - djd.BodyA.GetWorldPoint(djd.LocalAnchorA);
djd.Length = d.Length();
m_world.CreateJoint(djd);
{
float radius = 0.2f;
CircleShape shape = new CircleShape();
shape.Radius = radius;
for (int i = 0; i < 4; ++i)
{
BodyDef bd = new BodyDef();
bd.BodyType = BodyType.Dynamic;
bd.Position = new Vec2(5.9f + 2.0f * radius * i, 2.4f);
Body body = m_world.CreateBody(bd);
body.CreateFixture(shape, 10.0f);
body.UserData = "circle";
}
}
}
public Cloth()
{
FixtureDef boxFix = new FixtureDef(new CircleShape(ClothBodySize), 0.2f);
BodyDef boxBod = new BodyDef(BodyType.Dynamic, Vec2.Empty);
boxFix.Filter.GroupIndex = -1;
boxBod.Position = new Vec2(-ClothTotalWidth / 2, 30);
Body bar;
{
bar = m_world.CreateBody(new BodyDef(BodyType.Static, new Vec2(-ClothBodySpacingWidth / 2, 30)));
var fd = new FixtureDef(new PolygonShape((ClothTotalWidth / 2) + ClothBodySpacingWidth, 0.25f));
fd.Filter.GroupIndex = -1;
bar.CreateFixture(fd);
}
for (int y = 0; y < ClothSegmentsHeight; ++y)
{
for (int x = 0; x < ClothSegmentsWidth; ++x)
{
Body body = m_world.CreateBody(boxBod);
boxBod.Position += new Vec2(ClothBodySpacingWidth, 0);
body.CreateFixture(boxFix);
if (y == 0)
{
WeldJointDef wjd = new WeldJointDef();
wjd.Initialize(body, bar, body.WorldCenter);
m_world.CreateJoint(wjd);
}
cloth[x, y] = body;
}
boxBod.Position = new Vec2(-ClothTotalWidth / 2, boxBod.Position.Y - ClothBodySpacingWidth);
}
for (int y = 0; y < ClothSegmentsHeight; ++y)
{
for (int x = 0; x < ClothSegmentsWidth; ++x)
{
Body leftBody, rightBody;
DistanceJointDef djd = new DistanceJointDef();
djd.FrequencyHz = 15 + Rand.RandomFloat(0, 6);
djd.DampingRatio = 0.11f + Rand.RandomFloat(0.01f, 0.15f);
// connect to right
if (x != ClothSegmentsWidth - 1)
{
leftBody = cloth[x, y];
rightBody = cloth[x + 1, y];
djd.Initialize(leftBody, rightBody, leftBody.WorldCenter, rightBody.WorldCenter);
m_world.CreateJoint(djd);
}
// connect to up
if (y != 0)
{
leftBody = cloth[x, y];
rightBody = cloth[x, y - 1];
djd.Initialize(leftBody, rightBody, leftBody.WorldCenter, rightBody.WorldCenter);
m_world.CreateJoint(djd);
}
}
}
}
void CreateLeg(float s, Vec2 wheelAnchor)
{
Vec2 p1 = new Vec2(5.4f * s, -6.1f);
Vec2 p2 = new Vec2(7.2f * s, -1.2f);
Vec2 p3 = new Vec2(4.3f * s, -1.9f);
Vec2 p4 = new Vec2(3.1f * s, 0.8f);
Vec2 p5 = new Vec2(6.0f * s, 1.5f);
Vec2 p6 = new Vec2(2.5f * s, 3.7f);
FixtureDef fd1 = new FixtureDef(), fd2 = new FixtureDef();
fd1.Filter.GroupIndex = fd2.Filter.GroupIndex = -1;
fd1.Density = 1.0f;
fd2.Density = 1.0f;
PolygonShape poly1 = new PolygonShape(), poly2 = new PolygonShape();
if (s > 0.0f)
{
Vec2[] vertices = new Vec2[3];
vertices[0] = p1;
vertices[1] = p2;
vertices[2] = p3;
poly1.Vertices = vertices;
vertices[0] = Vec2.Empty;
vertices[1] = p5 - p4;
vertices[2] = p6 - p4;
poly2.Vertices = vertices;
}
else
{
Vec2[] vertices = new Vec2[3];
vertices[0] = p1;
vertices[1] = p3;
vertices[2] = p2;
poly1.Vertices = vertices;
vertices[0] = Vec2.Empty;
vertices[1] = p6 - p4;
vertices[2] = p5 - p4;
poly2.Vertices = vertices;
}
fd1.Shape = poly1;
fd2.Shape = poly2;
BodyDef bd1 = new BodyDef(), bd2 = new BodyDef();
bd1.BodyType = BodyType.Dynamic;
bd2.BodyType = BodyType.Dynamic;
bd1.Position = m_offset;
bd2.Position = p4 + m_offset;
bd1.AngularDamping = 10.0f;
bd2.AngularDamping = 10.0f;
Body body1 = m_world.CreateBody(bd1);
Body body2 = m_world.CreateBody(bd2);
body1.CreateFixture(fd1);
body2.CreateFixture(fd2);
DistanceJointDef djd = new DistanceJointDef();
// Using a soft distance constraint can reduce some jitter.
// It also makes the structure seem a bit more fluid by
// acting like a suspension system.
djd.DampingRatio = 0.5f;
djd.FrequencyHz = 10.0f;
djd.Initialize(body1, body2, p2 + m_offset, p5 + m_offset);
m_world.CreateJoint(djd);
djd.Initialize(body1, body2, p3 + m_offset, p4 + m_offset);
m_world.CreateJoint(djd);
djd.Initialize(body1, m_wheel, p3 + m_offset, wheelAnchor + m_offset);
m_world.CreateJoint(djd);
djd.Initialize(body2, m_wheel, p6 + m_offset, wheelAnchor + m_offset);
m_world.CreateJoint(djd);
RevoluteJointDef rjd = new RevoluteJointDef();
rjd.Initialize(body2, m_chassis, p4 + m_offset);
m_world.CreateJoint(rjd);
}
