/*
* public override void CreateBody(World world, float width, float height)
* {
* _collisionWidth = width;
* _collisionHeight = height;
* var carPosition = Position2.ToMeters();
* _body = new Body(world) {BodyType = BodyType.Dynamic, Position = carPosition, AngularDamping = 5};
*
* var halfWidth = width/2;
* var halfHeight = height/2;
*
* var frontWheelOffset = (float) CarInfo.FrontWheelOffset/64;
* var rearWheelOffset = (float) CarInfo.RearWheelOffset/64;
*
* //collision detection Fixture
* var vertices = new Vertices(4);
* vertices.Add(new Vector2(-halfWidth, -halfHeight)); //Top-Left
* vertices.Add(new Vector2(halfWidth, -halfHeight)); //Top-Right
* vertices.Add(new Vector2(halfWidth, halfHeight)); //Bottom-Right
* vertices.Add(new Vector2(-halfWidth, halfHeight)); //Bottom-Left
* _shape = new PolygonShape(vertices.ToMeters(), 0.1f);
* var fixture = _body.CreateFixture(_shape); //shape, density
* fixture.OnCollision += OnCollision;
*
* //SpriteId Fixture
* //var spriteHalfWidth = (float) CarInfo.Sprite.Rectangle.CollisionWidth/2; //ToDo
* //var spriteHalfHeight = (float) CarInfo.Sprite.Rectangle.CollisionHeight/2;
* var spriteHalfWidth = (float) 52/64/2;
* var spriteHalfHeight = (float) 128/64/2;
* var spriteVertices = new Vertices(4);
* spriteVertices.Add(new Vector2(-spriteHalfWidth, -spriteHalfHeight)); //Top-Left
* spriteVertices.Add(new Vector2(spriteHalfWidth, -spriteHalfHeight)); //Top-Right
* spriteVertices.Add(new Vector2(spriteHalfWidth, spriteHalfHeight)); //Bottom-Right
* spriteVertices.Add(new Vector2(-spriteHalfWidth, spriteHalfHeight)); //Bottom-Left
* _spriteShape = new PolygonShape(spriteVertices.ToMeters(), 0.1f);
* var spriteFixture = _body.CreateFixture(_spriteShape);
* spriteFixture.IsSensor = true;
*
* float maxForwardSpeed = 300;
* float maxBackwardSpeed = -40;
* float backWheelMaxDriveForce = 950;
* float frontWheelMaxDriveForce = 400;
* float backWheelMaxLateralImpulse = 9;
* float fronWheelMaxLateralImpulse = 9;
*
* //back left wheel
* var wheelOffsetPosition = new Vector2(halfWidth, rearWheelOffset).ToMeters();
* var wheel = new Wheel(world);
* wheel.SetCharacteristics(maxForwardSpeed, maxBackwardSpeed, backWheelMaxDriveForce, backWheelMaxLateralImpulse);
* _wheels[0] = wheel;
* _backLeftJoint = CreateJoint(_body, wheel.Body, wheelOffsetPosition, world);
*
* //back right wheel
* wheelOffsetPosition = new Vector2(-halfWidth, rearWheelOffset).ToMeters();
* wheel = new Wheel(world);
* wheel.SetCharacteristics(maxForwardSpeed, maxBackwardSpeed, backWheelMaxDriveForce, backWheelMaxLateralImpulse);
* _wheels[1] = wheel;
* _backRightJoint = CreateJoint(_body, wheel.Body, wheelOffsetPosition, world);
*
* //front left wheel
* wheelOffsetPosition = new Vector2(halfWidth, frontWheelOffset).ToMeters();
* wheel = new Wheel(world);
* wheel.SetCharacteristics(maxForwardSpeed, maxBackwardSpeed, frontWheelMaxDriveForce, fronWheelMaxLateralImpulse);
* _wheels[2] = wheel;
* _frontLeftJoint = CreateJoint(_body, wheel.Body, wheelOffsetPosition, world);
*
* //front right wheel
* wheelOffsetPosition = new Vector2(-halfWidth, frontWheelOffset).ToMeters();
* wheel = new Wheel(world);
* wheel.SetCharacteristics(maxForwardSpeed, maxBackwardSpeed, frontWheelMaxDriveForce, fronWheelMaxLateralImpulse);
* _wheels[3] = wheel;
* _frontRightJoint = CreateJoint(_body, wheel.Body, wheelOffsetPosition, world);
* }*/
/*
* private bool OnCollision(Fixture fixtureA, Fixture fixtureB, Contact contact)
* {
* if (Collided != null)
* Collided(this, EventArgs.Empty);
* return true;
* }
*
* private static RevoluteJoint CreateJoint(Body carBody, Body wheelBody, Vector2 anchor, World world)
* {
* var joint = JointFactory.CreateRevoluteJoint(carBody, wheelBody, Vector2.Zero);
* joint.LocalAnchorA = anchor;
* joint.LimitEnabled = true;
* joint.LowerLimit = 0;
* joint.UpperLimit = 0;
* world.AddJoint(joint);
* wheelBody.Position = carBody.Position + anchor;
* return joint;
* }
*/
public override void Update(ParticipantInput input, float elapsedTime)
{
/*
* //System.Diagnostics.Debug.WriteLine(_body.Position);
* var position = _body.Position.ToBlockUnits();
* Position3 = new Vector3(position.X, position.Y, Position3.Z);
* foreach (var wheel in _wheels)
* {
* wheel.Update(input.Forward, elapsedTime);
* }
*
* //control steering
* var lockAngle = MathHelper.ToRadians(angleLock);
* var turnSpeedPerSec = MathHelper.ToRadians((angleLock*2)/(lockToLockTime/1000));
* var turnPerTimeSpep = turnSpeedPerSec*elapsedTime;
* var desiredAngle = 0f;
* if (input.Rotation < 0)
* desiredAngle = lockAngle;
* else if (input.Rotation > 0)
* desiredAngle = -lockAngle;
* var angleNow = _frontLeftJoint.JointAngle;
* var angleToTurn = desiredAngle - angleNow;
* angleToTurn = MathHelper.Clamp(angleToTurn, -turnPerTimeSpep, turnPerTimeSpep);
* var newAngle = angleNow + angleToTurn;
* _frontLeftJoint.LowerLimit = newAngle;
* _frontLeftJoint.UpperLimit = newAngle;
* _frontRightJoint.LowerLimit = newAngle;
* _frontRightJoint.UpperLimit = newAngle;
*/
}
public override void Update(ParticipantInput input, float elapsedTime)
{
float x, y;
RotationAngle += input.Rotation;
x = (float)(Position3.X + input.Forward * Math.Cos(RotationAngle));
y = (float)(Position3.Y - input.Forward * Math.Sin(RotationAngle));
Position3 = new Vector3(x, y, Position3.Z);
}
public override void Update(ParticipantInput input, float elapsedTime)
{
float x, y;
RotationAngle += input.Rotation;
x = (float)(Position3.X + input.Forward * Math.Cos(RotationAngle));
y = (float)(Position3.Y - input.Forward * Math.Sin(RotationAngle));
Position3 = new Vector3(x, y, Position3.Z);
}
/// <summary>
/// Updates the state of the Object.
/// </summary>
/// <param name="input">The Input to apply to the Object.</param>
/// <param name="elapsedTime">The time occurred since the last Update.</param>
public override void Update(ParticipantInput input, float elapsedTime)
{
if (input.Forward != 0)
{
if (input.Forward > 0)
{
Controller.Direction = Walk.Forward;
}
else
{
Controller.Direction = Walk.Backward;
}
}
else
{
Controller.Direction = Walk.None;
}
if (input.Rotation != 0)
{
if (input.Rotation > 0)
{
Controller.Rotate = Rotate.Clockwise;
}
else
{
Controller.Rotate = Rotate.Anticlockwise;
}
}
else
{
Controller.Rotate = Rotate.None;
}
Position3 = new Vector3(body.Position.X, body.Position.Y, body.Position.Z);
// Calculate the angle on Z.
// Seen on http://nghiaho.com/?page_id=846
float r21 = body.Orientation.M21;
float r11 = body.Orientation.M11;
float angle = (float)Math.Atan2(r21, r11);
RotationAngle = angle;
}
/// <summary> /// Updates the state of the Object /// </summary> /// <param name="input">The Input to apply to the Object</param> /// <param name="elapsedTime">The time occurred since the last Update</param> public abstract void Update(ParticipantInput input, float elapsedTime);
/// <summary>
/// Updates the state of the Object.
/// </summary>
/// <param name="input">The Input to apply to the Object.</param>
/// <param name="elapsedTime">The time occurred since the last Update.</param>
public override void Update(ParticipantInput input, float elapsedTime)
{
if (input.Forward != 0)
{
if(input.Forward > 0)
Controller.Direction = Walk.Forward;
else
Controller.Direction = Walk.Backward;
}
else
{
Controller.Direction = Walk.None;
}
if (input.Rotation != 0)
{
if (input.Rotation > 0)
Controller.Rotate = Rotate.Clockwise;
else
Controller.Rotate = Rotate.Anticlockwise;
}
else
{
Controller.Rotate = Rotate.None;
}
Position3 = new Vector3(body.Position.X, body.Position.Y, body.Position.Z);
// Calculate the angle on Z.
// Seen on http://nghiaho.com/?page_id=846
float r21 = body.Orientation.M21;
float r11 = body.Orientation.M11;
float angle = (float)Math.Atan2(r21, r11);
RotationAngle = angle;
}
/// <summary> /// Updates the state of the Object. /// </summary> /// <param name="input">The Input to apply to the Object.</param> /// <param name="elapsedTime">The time occurred since the last Update.</param> public abstract void Update(ParticipantInput input, float elapsedTime);
public override void Update(ParticipantInput input, float elapsedTime)
{
//System.Diagnostics.Debug.WriteLine(_body.Position);
var position = _body.Position.ToBlockUnits();
Position3 = new Vector3(position.X, position.Y, Position3.Z);
foreach (var wheel in _wheels)
{
wheel.Update(input.Forward, elapsedTime);
}
//control steering
var lockAngle = MathHelper.ToRadians(angleLock);
var turnSpeedPerSec = MathHelper.ToRadians((angleLock*2)/(lockToLockTime/1000));
var turnPerTimeSpep = turnSpeedPerSec*elapsedTime;
var desiredAngle = 0f;
if (input.Rotation < 0)
desiredAngle = lockAngle;
else if (input.Rotation > 0)
desiredAngle = -lockAngle;
var angleNow = _frontLeftJoint.JointAngle;
var angleToTurn = desiredAngle - angleNow;
angleToTurn = MathHelper.Clamp(angleToTurn, -turnPerTimeSpep, turnPerTimeSpep);
var newAngle = angleNow + angleToTurn;
_frontLeftJoint.LowerLimit = newAngle;
_frontLeftJoint.UpperLimit = newAngle;
_frontRightJoint.LowerLimit = newAngle;
_frontRightJoint.UpperLimit = newAngle;
}
