/// <summary>
/// Creates a revolute joint and adds it to the world
/// </summary>
/// <param name="world"></param>
/// <param name="bodyA"></param>
/// <param name="bodyB"></param>
/// <param name="anchorB"></param>
/// <returns></returns>
public static RevoluteJoint CreateRevoluteJoint(World world, Body bodyA, Body bodyB, Vector2 anchorB)
{
Vector2 localanchorA = bodyA.GetLocalPoint(bodyB.GetWorldPoint(anchorB));
RevoluteJoint joint = new RevoluteJoint(bodyA, bodyB, localanchorA, anchorB);
world.AddJoint(joint);
return joint;
}
public override void HandleInput()
{
InputHelper input = game.inputManager.inputHelper;
if (input.IsNewButtonPress(MouseButtons.LeftButton))
{
Vector2 position = ProjectionHelper.PixelToFarseer(input.MousePosition);
List<Fixture> list = game.farseerManager.world.TestPointAll(position);
if (list.Count > 0)
{
if (startBody == null)
{
startBody = list[0].Body;
startBodyLocal = startBody.GetLocalPoint(position);
}
else
{
Body endBody = list[0].Body;
Vector2 endBodyLocal = endBody.GetLocalPoint(position);
RopeJoint j = new RopeJoint(startBody, endBody, startBodyLocal, endBodyLocal);
j.CollideConnected = true;
game.farseerManager.world.AddJoint(j);
FormManager.Property.setSelectedObject(j);
startBody = null;
}
}
}
}
/// Initialize the bodies, anchors, lengths, max lengths, and ratio using the world anchors.
public void Initialize(Body body1, Body body2,
Vector2 groundAnchor1, Vector2 groundAnchor2,
Vector2 anchor1, Vector2 anchor2,
float ratio)
{
Body1 = body1;
Body2 = body2;
GroundAnchor1 = groundAnchor1;
GroundAnchor2 = groundAnchor2;
LocalAnchor1 = body1.GetLocalPoint(anchor1);
LocalAnchor2 = body2.GetLocalPoint(anchor2);
Vector2 d1 = anchor1 - groundAnchor1;
Length1 = d1.Length();
Vector2 d2 = anchor2 - groundAnchor2;
Length2 = d2.Length();
Ratio = ratio;
//Box2DXDebug.Assert(ratio > Settings.FLT_EPSILON);
float C = Length1 + ratio * Length2;
MaxLength1 = C - ratio * PulleyJoint.MinPulleyLength;
MaxLength2 = (C - PulleyJoint.MinPulleyLength) / ratio;
}
private BodyTypesTest()
{
//Ground
BodyFactory.CreateEdge(World, new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
// Define attachment
{
_attachment = BodyFactory.CreateBody(World);
_attachment.BodyType = BodyType.Dynamic;
_attachment.Position = new Vector2(0.0f, 3.0f);
Vertices box = PolygonTools.CreateRectangle(0.5f, 2.0f);
PolygonShape shape = new PolygonShape(box, 2);
_attachment.CreateFixture(shape);
}
// Define platform
{
_platform = BodyFactory.CreateBody(World);
_platform.BodyType = BodyType.Dynamic;
_platform.Position = new Vector2(0.0f, 5.0f);
Vertices box = PolygonTools.CreateRectangle(4.0f, 0.5f);
PolygonShape shape = new PolygonShape(box, 2);
Fixture fixture = _platform.CreateFixture(shape);
fixture.Friction = 0.6f;
RevoluteJoint rjd = new RevoluteJoint(_attachment, _platform,
_attachment.GetLocalPoint(_platform.Position),
Vector2.Zero);
rjd.MaxMotorTorque = 50.0f;
rjd.MotorEnabled = true;
World.AddJoint(rjd);
//FixedPrismaticJoint pjd = new FixedPrismaticJoint(_platform, new Vector2(0.0f, 5.0f),
// new Vector2(1.0f, 0.0f));
//pjd.MaxMotorForce = 1000.0f;
//pjd.MotorEnabled = true;
//pjd.LowerLimit = -10.0f;
//pjd.UpperLimit = 10.0f;
//pjd.LimitEnabled = true;
//World.AddJoint(pjd);
_speed = 3.0f;
}
// Create a payload
{
Body body = BodyFactory.CreateBody(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(0.0f, 8.0f);
Vertices box = PolygonTools.CreateRectangle(0.75f, 0.75f);
PolygonShape shape = new PolygonShape(box, 2);
Fixture fixture = body.CreateFixture(shape);
fixture.Friction = 0.6f;
}
}
private BridgeTest()
{
Body ground;
{
ground = new Body(World);
PolygonShape shape = new PolygonShape(0);
shape.SetAsEdge(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
ground.CreateFixture(shape);
}
{
Vertices box = PolygonTools.CreateRectangle(0.5f, 0.125f);
PolygonShape shape = new PolygonShape(box, 20);
Body prevBody = ground;
for (int i = 0; i < Count; ++i)
{
Body body = BodyFactory.CreateBody(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(-14.5f + 1.0f*i, 5.0f);
Fixture fixture = body.CreateFixture(shape);
fixture.Friction = 0.2f;
Vector2 anchor = new Vector2(-0.5f, 0.0f);
RevoluteJoint jd = new RevoluteJoint(prevBody, body,
prevBody.GetLocalPoint(body.GetWorldPoint(anchor)), anchor);
World.AddJoint(jd);
prevBody = body;
}
Vector2 anchor2 = new Vector2(0.5f, 0.0f);
RevoluteJoint jd2 = new RevoluteJoint(ground, prevBody,
ground.GetLocalPoint(prevBody.GetWorldPoint(anchor2)), anchor2);
World.AddJoint(jd2);
}
Vertices vertices = new Vertices(3);
vertices.Add(new Vector2(-0.5f, 0.0f));
vertices.Add(new Vector2(0.5f, 0.0f));
vertices.Add(new Vector2(0.0f, 1.5f));
for (int i = 0; i < 2; ++i)
{
PolygonShape shape = new PolygonShape(vertices, 1);
Body body = BodyFactory.CreateBody(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(-8.0f + 8.0f*i, 12.0f);
body.CreateFixture(shape);
}
for (int i = 0; i < 3; ++i)
{
CircleShape shape = new CircleShape(0.5f, 1);
Body body = BodyFactory.CreateBody(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(-6.0f + 6.0f*i, 10.0f);
body.CreateFixture(shape);
}
}
private void CreateChassis(World world, Vector2 pivot, AssetCreator assets)
{
{
PolygonShape shape = new PolygonShape(1f);
shape.Vertices = PolygonTools.CreateRectangle(2.5f, 1.0f);
_body = new Sprite(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(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 = true;
world.AddJoint(_motorJoint);
}
}
/// <summary>
/// Creates a weld joint
/// </summary>
/// <param name="bodyA"></param>
/// <param name="bodyB"></param>
/// <param name="localAnchor"></param>
/// <returns></returns>
public static WeldJoint CreateWeldJoint(Body bodyA, Body bodyB, Vector2 localAnchor)
{
WeldJoint joint = new WeldJoint(bodyA, bodyB, bodyA.GetLocalPoint(localAnchor),
bodyB.GetLocalPoint(localAnchor));
return joint;
}
/// <summary>
/// Creates a revolute joint.
/// </summary>
/// <param name="bodyA"></param>
/// <param name="bodyB"></param>
/// <param name="localAnchorB">The anchor of bodyB in local coordinates</param>
/// <returns></returns>
public static RevoluteJoint CreateRevoluteJoint(Body bodyA, Body bodyB, Vector2 localAnchorB)
{
Vector2 localanchorA = bodyA.GetLocalPoint(bodyB.GetWorldPoint(localAnchorB));
RevoluteJoint joint = new RevoluteJoint(bodyA, bodyB, localanchorA, localAnchorB);
return joint;
}
/// <summary>
/// Creates a prsimatic joint
/// </summary>
/// <param name="bodyA"></param>
/// <param name="bodyB"></param>
/// <param name="localanchorB"></param>
/// <param name="axis"></param>
/// <returns></returns>
public static PrismaticJoint CreatePrismaticJoint(Body bodyA, Body bodyB, Vector2 localanchorB, Vector2 axis)
{
Vector2 localanchorA = bodyA.GetLocalPoint(bodyB.GetWorldPoint(localanchorB));
PrismaticJoint joint = new PrismaticJoint(bodyA, bodyB, localanchorA, localanchorB, axis);
return joint;
}
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);
}
/// <summary>
/// Creates a weld joint
/// </summary>
/// <param name="world"></param>
/// <param name="bodyA"></param>
/// <param name="bodyB"></param>
/// <param name="localanchorB"></param>
/// <returns></returns>
public static WeldJoint CreateWeldJoint(Body bodyA, Body bodyB, Vector2 localanchorB)
{
Vector2 localanchorA = bodyA.GetLocalPoint(bodyB.GetWorldPoint(localanchorB));
WeldJoint joint = new WeldJoint(bodyA, bodyB, localanchorA, localanchorB);
return joint;
}
private TheoJansenTest()
{
_offset = new Vector2(0.0f, 8.0f);
_motorSpeed = 2.0f;
_motorOn = true;
Vector2 pivot = new Vector2(0.0f, 0.8f);
// Ground
{
Body ground = BodyFactory.CreateBody(World);
EdgeShape shape = new EdgeShape(new Vector2(-50.0f, 0.0f), new Vector2(50.0f, 0.0f));
ground.CreateFixture(shape);
shape = new EdgeShape(new Vector2(-50.0f, 0.0f), new Vector2(-50.0f, 10.0f));
ground.CreateFixture(shape);
shape = new EdgeShape(new Vector2(50.0f, 0.0f), new Vector2(50.0f, 10.0f));
ground.CreateFixture(shape);
}
// Balls
for (int i = 0; i < 40; ++i)
{
CircleShape shape = new CircleShape(0.25f, 1);
Body body = BodyFactory.CreateBody(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(-40.0f + 2.0f * i, 0.5f);
body.CreateFixture(shape);
}
// Chassis
{
PolygonShape shape = new PolygonShape(1);
shape.SetAsBox(2.5f, 1.0f);
_chassis = BodyFactory.CreateBody(World);
_chassis.BodyType = BodyType.Dynamic;
_chassis.Position = pivot + _offset;
Fixture fixture = _chassis.CreateFixture(shape);
fixture.CollisionGroup = -1;
}
{
CircleShape shape = new CircleShape(1.6f, 1);
_wheel = BodyFactory.CreateBody(World);
_wheel.BodyType = BodyType.Dynamic;
_wheel.Position = pivot + _offset;
Fixture fixture = _wheel.CreateFixture(shape);
fixture.CollisionGroup = -1;
}
{
//_motorJoint = new RevoluteJoint(_wheel, _chassis, pivot + _offset);
_motorJoint = new RevoluteJoint(_wheel, _chassis, _wheel.GetLocalPoint(_chassis.Position), Vector2.Zero);
_motorJoint.CollideConnected = false;
_motorJoint.MotorSpeed = _motorSpeed;
_motorJoint.MaxMotorTorque = 400.0f;
_motorJoint.MotorEnabled = _motorOn;
World.AddJoint(_motorJoint);
}
Vector2 wheelAnchor = pivot + new Vector2(0.0f, -0.8f);
CreateLeg(-1.0f, wheelAnchor);
CreateLeg(1.0f, wheelAnchor);
_wheel.SetTransform(_wheel.Position, 120.0f * Settings.Pi / 180.0f);
CreateLeg(-1.0f, wheelAnchor);
CreateLeg(1.0f, wheelAnchor);
_wheel.SetTransform(_wheel.Position, -120.0f * Settings.Pi / 180.0f);
CreateLeg(-1.0f, wheelAnchor);
CreateLeg(1.0f, wheelAnchor);
}
public override void Start()
{
base.Start();
CircleShape circ;
PolygonShape box;
Fixture fixture;
RevoluteJoint joint;
// Add 2 ragdolls along the top
for(int i = 0; i < 2; i++)
{
float startX = 70f + Random.value * 20f + 480f * (float)i;
float startY = (20f + Random.value * 50f) * -1f;
// Head
Body head = new Body(FSWorldComponent.PhysicsWorld);
circ = new CircleShape(12.5f / physScale, 1f);
fixture = new Fixture(head, circ);
fixture.Friction = 0.4f;
fixture.Restitution = 0.3f;
head.Position = new FVector2(startX / physScale, startY / physScale);
head.ApplyLinearImpulse(new FVector2(Random.value * 100f - 50f, Random.value * 100f - 50f), head.Position);
head.BodyType = BodyType.Dynamic;
// Torso 1
Body torso1 = new Body(FSWorldComponent.PhysicsWorld);
box = new PolygonShape(1f);
box.SetAsBox(15f / physScale, 10f / physScale);
fixture = new Fixture(torso1, box);
fixture.Friction = 0.4f;
fixture.Restitution = 0.1f;
torso1.Position = new FVector2(startX / physScale, (startY - 28f) / physScale);
torso1.BodyType = BodyType.Dynamic;
// Torso 2
Body torso2 = new Body(FSWorldComponent.PhysicsWorld);
box = new PolygonShape(1f);
box.SetAsBox(15f / physScale, 10f / physScale);
fixture = new Fixture(torso2, box);
fixture.Friction = 0.4f;
fixture.Restitution = 0.1f;
torso2.Position = new FVector2(startX / physScale, (startY - 43f) / physScale);
torso2.BodyType = BodyType.Dynamic;
// Torso 3
Body torso3 = new Body(FSWorldComponent.PhysicsWorld);
box = new PolygonShape(1f);
box.SetAsBox(15f / physScale, 10f / physScale);
fixture = new Fixture(torso3, box);
fixture.Friction = 0.4f;
fixture.Restitution = 0.1f;
torso3.Position = new FVector2(startX / physScale, (startY - 58f) / physScale);
torso3.BodyType = BodyType.Dynamic;
// UpperArm
// L
Body upperArmL = new Body(FSWorldComponent.PhysicsWorld);
box = new PolygonShape(1f);
box.SetAsBox(18f / physScale, 6.5f / physScale);
fixture = new Fixture(upperArmL, box);
fixture.Friction = 0.4f;
fixture.Restitution = 0.1f;
upperArmL.Position = new FVector2((startX - 30f) / physScale, (startY - 20f) / physScale);
upperArmL.BodyType = BodyType.Dynamic;
// R
Body upperArmR = new Body(FSWorldComponent.PhysicsWorld);
box = new PolygonShape(1f);
box.SetAsBox(18f / physScale, 6.5f / physScale);
fixture = new Fixture(upperArmR, box);
fixture.Friction = 0.4f;
fixture.Restitution = 0.1f;
upperArmR.Position = new FVector2((startX + 30f) / physScale, (startY - 20f) / physScale);
upperArmR.BodyType = BodyType.Dynamic;
// LowerArm
// L
Body lowerArmL = new Body(FSWorldComponent.PhysicsWorld);
box = new PolygonShape(1f);
box.SetAsBox(17f / physScale, 6f / physScale);
fixture = new Fixture(lowerArmL, box);
fixture.Friction = 0.4f;
fixture.Restitution = 0.1f;
lowerArmL.Position = new FVector2((startX - 57f) / physScale, (startY - 20f) / physScale);
lowerArmL.BodyType = BodyType.Dynamic;
// R
Body lowerArmR = new Body(FSWorldComponent.PhysicsWorld);
box = new PolygonShape(1f);
box.SetAsBox(17f / physScale, 6f / physScale);
fixture = new Fixture(lowerArmR, box);
fixture.Friction = 0.4f;
fixture.Restitution = 0.1f;
lowerArmR.Position = new FVector2((startX + 57f) / physScale, (startY - 20f) / physScale);
lowerArmR.BodyType = BodyType.Dynamic;
// UpperLeg
// L
Body upperLegL = new Body(FSWorldComponent.PhysicsWorld);
box = new PolygonShape(1f);
box.SetAsBox(7.5f / physScale, 22f / physScale);
fixture = new Fixture(upperLegL, box);
fixture.Friction = 0.4f;
fixture.Restitution = 0.1f;
upperLegL.Position = new FVector2((startX - 8f) / physScale, (startY - 85f) / physScale);
upperLegL.BodyType = BodyType.Dynamic;
// R
Body upperLegR = new Body(FSWorldComponent.PhysicsWorld);
box = new PolygonShape(1f);
box.SetAsBox(7.5f / physScale, 22f / physScale);
fixture = new Fixture(upperLegR, box);
fixture.Friction = 0.4f;
fixture.Restitution = 0.1f;
upperLegR.Position = new FVector2((startX + 8f) / physScale, (startY - 85f) / physScale);
upperLegR.BodyType = BodyType.Dynamic;
// LowerLeg
// L
Body lowerLegL = new Body(FSWorldComponent.PhysicsWorld);
box = new PolygonShape(1f);
box.SetAsBox(7.5f / physScale, 22f / physScale);
fixture = new Fixture(lowerLegL, box);
fixture.Friction = 0.4f;
fixture.Restitution = 0.1f;
lowerLegL.Position = new FVector2((startX - 8f) / physScale, (startY - 120f) / physScale);
lowerLegL.BodyType = BodyType.Dynamic;
// R
Body lowerLegR = new Body(FSWorldComponent.PhysicsWorld);
box = new PolygonShape(1f);
box.SetAsBox(7.5f / physScale, 22f / physScale);
fixture = new Fixture(lowerLegR, box);
fixture.Friction = 0.4f;
fixture.Restitution = 0.1f;
lowerLegR.Position = new FVector2((startX + 8f) / physScale, (startY - 120f) / physScale);
lowerLegR.BodyType = BodyType.Dynamic;
// JOINTS
// Head to shoulders
joint = JointFactory.CreateRevoluteJoint(FSWorldComponent.PhysicsWorld, torso1, head, head.GetLocalPoint(new FVector2(startX / physScale, (startY - 15f) / physScale)));
joint.LowerLimit = -40f * Mathf.Deg2Rad;
joint.UpperLimit = 40f * Mathf.Deg2Rad;
joint.LimitEnabled = true;
joint.CollideConnected = false;
// Upper arm to shoulders
// L
joint = JointFactory.CreateRevoluteJoint(FSWorldComponent.PhysicsWorld, torso1, upperArmL, upperArmL.GetLocalPoint(new FVector2((startX - 18f) / physScale, (startY - 20f) / physScale)));
joint.LowerLimit = -85f * Mathf.Deg2Rad;
joint.UpperLimit = 130f * Mathf.Deg2Rad;
joint.LimitEnabled = true;
joint.CollideConnected = false;
// R
joint = JointFactory.CreateRevoluteJoint(FSWorldComponent.PhysicsWorld, torso1, upperArmR, upperArmR.GetLocalPoint(new FVector2((startX + 18f) / physScale, (startY - 20f) / physScale)));
joint.LowerLimit = -130f * Mathf.Deg2Rad;
joint.UpperLimit = 85f * Mathf.Deg2Rad;
joint.LimitEnabled = true;
joint.CollideConnected = false;
// Lower arm to upper arm
// L
joint = JointFactory.CreateRevoluteJoint(FSWorldComponent.PhysicsWorld, upperArmL, lowerArmL, lowerArmL.GetLocalPoint(new FVector2((startX - 45f) / physScale, (startY - 20f) / physScale)));
joint.LowerLimit = -130f * Mathf.Deg2Rad;
joint.UpperLimit = 10f * Mathf.Deg2Rad;
joint.LimitEnabled = true;
joint.CollideConnected = false;
// R
joint = JointFactory.CreateRevoluteJoint(FSWorldComponent.PhysicsWorld, upperArmR, lowerArmR, lowerArmR.GetLocalPoint(new FVector2((startX + 45f) / physScale, (startY - 20f) / physScale)));
joint.LowerLimit = -10f * Mathf.Deg2Rad;
joint.UpperLimit = 130f * Mathf.Deg2Rad;
joint.LimitEnabled = true;
joint.CollideConnected = false;
// Shoulders/stomach
joint = JointFactory.CreateRevoluteJoint(FSWorldComponent.PhysicsWorld, torso1, torso2, torso2.GetLocalPoint(new FVector2((startX + 0f) / physScale, (startY - 35f) / physScale)));
joint.LowerLimit = -15f * Mathf.Deg2Rad;
joint.UpperLimit = 15f * Mathf.Deg2Rad;
joint.LimitEnabled = true;
joint.CollideConnected = false;
// Stomach/hips
joint = JointFactory.CreateRevoluteJoint(FSWorldComponent.PhysicsWorld, torso2, torso3, torso3.GetLocalPoint(new FVector2((startX + 0f) / physScale, (startY - 50f) / physScale)));
joint.LowerLimit = -15f * Mathf.Deg2Rad;
joint.UpperLimit = 15f * Mathf.Deg2Rad;
joint.LimitEnabled = true;
joint.CollideConnected = false;
// Torso to upper leg
// L
joint = JointFactory.CreateRevoluteJoint(FSWorldComponent.PhysicsWorld, torso3, upperLegL, upperLegL.GetLocalPoint(new FVector2((startX - 8f) / physScale, (startY - 72f) / physScale)));
joint.LowerLimit = -25f * Mathf.Deg2Rad;
joint.UpperLimit = 45f * Mathf.Deg2Rad;
joint.LimitEnabled = true;
joint.CollideConnected = false;
// R
joint = JointFactory.CreateRevoluteJoint(FSWorldComponent.PhysicsWorld, torso3, upperLegR, upperLegR.GetLocalPoint(new FVector2((startX + 8f) / physScale, (startY - 72f) / physScale)));
joint.LowerLimit = -45f * Mathf.Deg2Rad;
joint.UpperLimit = 25f * Mathf.Deg2Rad;
joint.LimitEnabled = true;
joint.CollideConnected = false;
// Upper leg to lower leg
// L
joint = JointFactory.CreateRevoluteJoint(FSWorldComponent.PhysicsWorld, upperLegL, lowerLegL, lowerLegL.GetLocalPoint(new FVector2((startX - 8f) / physScale, (startY - 105f) / physScale)));
joint.LowerLimit = -25f * Mathf.Deg2Rad;
joint.UpperLimit = 115f * Mathf.Deg2Rad;
joint.LimitEnabled = true;
joint.CollideConnected = false;
// R
joint = JointFactory.CreateRevoluteJoint(FSWorldComponent.PhysicsWorld, upperLegR, lowerLegR, lowerLegR.GetLocalPoint(new FVector2((startX + 8f) / physScale, (startY - 105f) / physScale)));
joint.LowerLimit = -115f * Mathf.Deg2Rad;
joint.UpperLimit = 25f * Mathf.Deg2Rad;
joint.LimitEnabled = true;
joint.CollideConnected = false;
}
// Add stairs on the left, these are static bodies so set the type accordingly
for(int j = 1; j <= 10; j++)
{
Body body = new Body(FSWorldComponent.PhysicsWorld);
box = new PolygonShape(1f);
box.SetAsBox((10f * (float)j) / physScale, 10f / physScale);
fixture = new Fixture(body, box);
body.Position = new FVector2((10f * (float)j) / physScale, ((150f + 20f * (float)j) / physScale) * -1f);
}
// Add stairs on the right
for(int k = 1; k <= 10; k++)
{
Body body = new Body(FSWorldComponent.PhysicsWorld);
box = new PolygonShape(1f);
box.SetAsBox((10f * (float)k) / physScale, 10f / physScale);
fixture = new Fixture(body, box);
body.Position = new FVector2((640f - 10f * (float)k) / physScale, ((150f + 20f * (float)k) / physScale) * -1f);
}
Body ground = new Body(FSWorldComponent.PhysicsWorld);
box = new PolygonShape(1f);
box.SetAsBox(30f / physScale, 40f / physScale);
fixture = new Fixture(ground, box);
ground.Position = new FVector2(320f / physScale, (320f / physScale) * -1f);
}
RevoluteJoint EasyRevoluteJoint(Body bodyA, Body bodyB, Vector2 worldPos)
{
return new RevoluteJoint(bodyA, bodyB, bodyA.GetLocalPoint(ref worldPos), bodyB.GetLocalPoint(ref worldPos));
}