/// <summary>
/// Allows the game component to perform any initialization it needs to before starting
/// to run. This is where it can query for any required services and load content.
/// </summary>
protected override void Initialize()
{
fixedCrate = new Crate(new Vector3(0.1f, 0.1f, 0.1f));
fixedCrate.Position = new Vector3(0f, 0f, 0f);
fixedCrate.Mass = 1;
crate = new Crate(new Vector3(0.1f, 0.1f, 0.1f));
crate.Position = new Vector3(-0f, -1f, -0f);
crate.Mass = 1;
cg = new ContactGenerator();
cg.AddBody(fixedCrate);
//cg.AddBody(crate);
cg.AddJoint(new PhysiXEngine.Joint(fixedCrate,crate,new Vector3(0,0,0),new Vector3(0.1f, 0.1f, 0.1f),0.15f));
camera = new Camera(this, new Vector3(0, 0, 0.1f),
Vector3.Zero, Vector3.Up);
Components.Add(camera);
g = new Gravity(new Vector3(0f, -10f, 0f));
//g.AddBody(crate);
//zfixedCrate.InverseMass = 0;
//fixedCrate.InverseInertiaTensor = new Matrix();
//crate.InverseInertiaTensor = new Matrix();
base.Initialize();
}
/// <summary>
/// Allows the game component to perform any initialization it needs to before starting
/// to run. This is where it can query for any required services and load content.
/// </summary>
protected override void Initialize()
{
fixedBall = new Ball(1f);
fixedBall.Texture = Content.Load<Texture2D>(@"basic_material");
fixedBall.Position = new Vector3(0f, 0, 0f);
ball = new Ball(0.3f);
ball.Texture = Content.Load<Texture2D>(@"basic_material");
ball.Position = new Vector3(0f, -2f, 0f);
crate = new Crate(new Vector3(0.07f, 0.05f, 0.05f));
crate.Position = new Vector3(0.3f, 5f, 0.20f);
crate.Mass = 10;
cg = new ContactGenerator();
cg.AddBody(fixedBall);
cg.AddBody(ball);
cg.AddBody(crate);
fixedBall.model = Content.Load<Model>(@"ball");
ball.model = fixedBall.model;
camera = new Camera(this, new Vector3(0, 0, 10f),
Vector3.Zero, Vector3.Up);
Components.Add(camera);
g = new Gravity(new Vector3(0f, -10f, 0f));
fixedBall.InverseMass = 0;
fixedBall.InverseInertiaTensor = new Matrix();
ball.Mass = 1f;
sp = new Spring(fixedBall, ball, 3f, 2f, 0.995f, Vector3.Zero, new Vector3(0.5f, 0.5f, 0.5f));
base.Initialize();
}
/// <summary>
/// Allows the game component to perform any initialization it needs to before starting
/// to run. This is where it can query for any required services and load content.
/// </summary>
protected override void Initialize()
{
fixedCrate = new Crate(new Vector3(0.5f, 0.5f, 0.5f));
fixedCrate.Position = new Vector3(0, 0, 0);
fixedCrate.AddScaledOrientation(new Vector3(0,0,20));
crate = new Crate(new Vector3(0.5f, 0.5f, 0.5f));
crate.Position = new Vector3(0, 4, 0);
crate.Mass = 10;
cg = new ContactGenerator();
cg.AddBody(fixedCrate);
cg.AddBody(crate);
camera = new Camera(this, new Vector3(0, 0, 0.1f),
Vector3.Zero, Vector3.Up);
Components.Add(camera);
g = new Gravity(new Vector3(0f, -10f, 0f));
//fixedCrate.InverseMass = 0;
//fixedCrate.InverseInertiaTensor = new Matrix();
base.Initialize();
}
/// <summary>
/// Allows the game component to perform any initialization it needs to before starting
/// to run. This is where it can query for any required services and load content.
/// </summary>
protected override void Initialize()
{
//crates = new Crate[NUM_CRATES];
Ball b = new Ball(2);
b.Position = Vector3.Up * 1000;
cg = new ContactGenerator();
cg.AddBody(b);
joints = new Joint[NUM_JOINTS];
balls = new Ball[NUM_BALLS];
fixedBalls = new Ball[4];
ground = new Crate(new Vector3(10, 1, 10));
#region oldcode
/*
//Arms
crates[0] = new Crate(new Vector3(0.3f, 1f, 0.2f));
crates[1] = new Crate(new Vector3(0.3f, 1f, 0.2f));
crates[2] = new Crate(new Vector3(0.3f, 1f, 0.2f));
crates[3] = new Crate(new Vector3(0.3f, 1f, 0.2f));
crates[4] = new Crate(new Vector3(0.4f, 0.3f, 0.6f));
crates[5] = new Crate(new Vector3(0.3f, 0.3f, 0.6f));
crates[6] = new Crate(new Vector3(0.4f, 0.3f, 0.7f));
crates[7] = new Crate(new Vector3(0.4f, 0.5f, 0.4f));
//Legs
crates[8] = new Crate(new Vector3(0.2f, 0.8f, 0.2f));
crates[9] = new Crate(new Vector3(0.2f, 0.8f, 0.2f));
crates[10] = new Crate(new Vector3(0.2f, 0.8f, 0.2f));
crates[11] = new Crate(new Vector3(0.2f, 0.8f, 0.2f));
crates[0].Position=new Vector3(0,0.9f,-0.5f);
crates[1].Position = new Vector3(0, 3.159f, -0.56f);
crates[2].Position = new Vector3(0, 0.993f, 0.5f);
crates[3].Position = new Vector3(0, 3.15f, 0.56f);
crates[4].Position = new Vector3(-0.054f, 4.683f, 0.013f);
crates[5].Position = new Vector3(0.043f, 5.603f, 0.013f);
crates[6].Position = new Vector3(0, 6.485f, 0.013f);
crates[7].Position = new Vector3(0, 7.759f, 0.013f);
crates[8].Position = new Vector3(0, 5.946f, -1.066f);
crates[9].Position = new Vector3(0, 4.024f, -1.066f);
crates[10].Position = new Vector3(0, 5.946f, 1.066f);
crates[11].Position = new Vector3(0, 4.024f, 1.066f);
for (int i = 0; i < NUM_CRATES; i++)
{
crates[i].Mass = 1;
crates[i].Position = Vector3.Zero;
}
//right leg
joints[0]=new Joint(crates[0],crates[1],new Vector3(0,1,0),new Vector3(0,-1,0),0.15f);
//Left leg
joints[1]=new Joint(crates[2],crates[3],new Vector3(0,1,0),new Vector3(0,-1,0),0.15f);
//right arm
joints[2]=new Joint(crates[9],crates[8],new Vector3(0,1,0),new Vector3(0,-1,0),0.15f);
//left arm
joints[3]=new Joint(crates[8],crates[1],new Vector3(0,1,0),new Vector3(0,-1,0),0.15f);
//stomach to waist
joints[4]=new Joint(crates[4],crates[5],new Vector3(0.05f,0.5f,0),new Vector3(-0.04f,-0.45f,0),0.15f);
//
joints[5]=new Joint(crates[5],crates[6],new Vector3(-0.04f,0.4f,0),new Vector3(0,-4,0),0.15f);
joints[6]=new Joint(crates[6],crates[7],new Vector3(0,0.5f,0),new Vector3(0,-0.7f,0),0.15f);
joints[7]=new Joint(crates[1],crates[4],new Vector3(0,1,0),new Vector3(0,-0.45f,-.5f),0.15f);
joints[8]=new Joint(crates[3],crates[4],new Vector3(0,1,0),new Vector3(0,-0.45f,0.5f),0.15f);
joints[9]=new Joint(crates[6],crates[8],new Vector3(0,0.3f,-.8f),new Vector3(0,0.8f,.3f),0.15f);
joints[10]=new Joint(crates[6],crates[10],new Vector3(0,0.3f,0.8f),new Vector3(0,0.8f,-0.3f),0.15f);
*/
#endregion
#region
////Head
//crates[0] = new Crate(new Vector3(0.1f / 2f, 0.1f / 2f, 0.1f / 2f));
////Arms
//crates[1] = new Crate(new Vector3(0.1f / 2f, 0.2f / 2f, 0.1f / 2f));
//crates[2] = new Crate(new Vector3(0.1f / 2f, 0.3f / 2f, 0.1f / 2f));
//crates[3] = new Crate(new Vector3(0.1f / 2f, 0.2f / 2f, 0.1f / 2f));
//crates[4] = new Crate(new Vector3(0.1f / 2f, 0.3f / 2f, 0.1f / 2f));
////Shoulder
//crates[5] = new Crate(new Vector3(0.5f / 2f, 0.1f / 2f, 0.1f / 2f));
////chest
//crates[6] = new Crate(new Vector3(0.4f / 2f, 0.1f / 2f, 0.1f / 2f));
////Stomach
//crates[7] = new Crate(new Vector3(0.4f / 2f, 0.1f / 2f, 0.1f / 2f));
////Legs
//crates[8] = new Crate(new Vector3(0.1f / 2f, 0.2f / 2f, 0.1f / 2f));
//crates[9] = new Crate(new Vector3(0.1f / 2f, 0.2f / 2f, 0.1f / 2f));
//crates[10] = new Crate(new Vector3(0.1f / 2f, 0.2f / 2f, 0.1f / 2f));
//crates[11] = new Crate(new Vector3(0.1f / 2f, 0.2f / 2f, 0.1f / 2f));
////Head
//crates[0].Position = new Vector3(0, 0.45f, 0);
////Arms
//crates[1].Position = new Vector3(0.35f, 0.25f, 0);
//crates[2].Position = new Vector3(0.35f, -.05f, 0);
//crates[3].Position = new Vector3(-0.35f, .25f, 0);
//crates[4].Position = new Vector3(-0.35f, -0.05f, 0);
////Shoulder
//crates[5].Position = new Vector3(0, 0.3f, -.05f);
////chest
//crates[6].Position = new Vector3(0, 0.15f, 0);
////Center Stomach
//crates[7].Position = new Vector3(0, 0f, 0.05f);
////legs
//crates[8].Position = new Vector3(0.15f, -0.2f, 0);
//crates[9].Position = new Vector3(0.15f, -0.45f, 0);
//crates[10].Position = new Vector3(-0.15f, -0.2f, 0);
//crates[11].Position = new Vector3(-0.15f, -0.45f, 0);
////Head and shoulders :)
//joints[0] = new Joint(crates[0], crates[5], new Vector3(0, -0.05f, -0.05f), new Vector3(0, 0.05f, 0), 0.05f);
////right arm
//joints[1] = new Joint(crates[1], crates[2], new Vector3(0, -0.1f, 0.05f), new Vector3(0, 0.15f, 0), 0.05f);
////left arm
//joints[2] = new Joint(crates[3], crates[4], new Vector3(0, -0.1f, 0.05f), new Vector3(0, 0.15f, 0), 0.05f);
////right leg
//joints[3] = new Joint(crates[8], crates[9], new Vector3(0, -0.1f, 0.05f), new Vector3(0, 0.1f, 0), 0.05f);
////left leg
//joints[4] = new Joint(crates[10], crates[11], new Vector3(0, -0.1f, 0.05f), new Vector3(0, 0.1f, 0), 0.05f);
////right arm with shoulders
//joints[5] = new Joint(crates[5], crates[1], new Vector3(.25f, 0.05f, 0), new Vector3(-0.05f, 0.1f, 0), 0.05f);
////left arm with shoulders
//joints[6] = new Joint(crates[5], crates[3], new Vector3(-.25f, 0.05f, 0), new Vector3(0.05f, 0.1f, 0), 0.05f);
//joints[7] = new Joint(crates[5], crates[6], new Vector3(0, -0.05f, 0.05f), new Vector3(0, 0.05f, 0), 0.05f);
//joints[8] = new Joint(crates[6], crates[7], new Vector3(0, -0.05f, 0), new Vector3(0, 0.05f, -.05f), 0.05f);
//joints[9] = new Joint(crates[7], crates[8], new Vector3(.15f, -0.05f, 0), new Vector3(0, 0.1f, 0), 0.05f);
//joints[10] = new Joint(crates[7], crates[10], new Vector3(-.15f, -0.05f, 0), new Vector3(0, 0.1f, 0), 0.05f);
#endregion
#region newBall
balls[0] = new Ball(0.1f);
balls[1] = new Ball(0.15f);
balls[2] = new Ball(0.15f);
balls[3] = new Ball(0.05f);
balls[4] = new Ball(0.05f);
balls[5] = new Ball(0.05f);
balls[6] = new Ball(0.05f);
balls[7] = new Ball(0.05f);
balls[8] = new Ball(0.05f);
balls[9] = new Ball(0.05f);
balls[10] = new Ball(0.05f);
balls[11] = new Ball(0.05f);
balls[12] = new Ball(0.05f);
balls[13] = new Ball(0.05f);
balls[14] = new Ball(0.05f);
fixedBalls[0] = new Ball(0.05f);
fixedBalls[1] = new Ball(0.05f);
fixedBalls[2] = new Ball(0.05f);
fixedBalls[3] = new Ball(0.05f);
#endregion
#region position
balls[0].Position = new Vector3(0, 0.6f, 0);
balls[1].Position = new Vector3(0, 0.3f, 0);
balls[2].Position = new Vector3(0, -0.05f, 0);
balls[3].Position = new Vector3(0.25f, 0.3f, 0);
balls[4].Position = new Vector3(0.25f, 0.15f, 0);
balls[5].Position = new Vector3(0.25f, 0, 0);
balls[6].Position = new Vector3(-0.25f, 0.3f, 0);
balls[7].Position = new Vector3(-0.25f, 0.15f, 0);
balls[8].Position = new Vector3(-0.25f, 0, 0);
balls[9].Position = new Vector3(0.1f, -.25f, 0);
balls[10].Position = new Vector3(0.1f, -.4f, 0);
balls[11].Position = new Vector3(0.1f, -.55f, 0);
balls[12].Position = new Vector3(-0.1f, -.25f, 0);
balls[13].Position = new Vector3(-0.1f, -.4f, 0);
balls[14].Position = new Vector3(-0.1f, -.55f, 0);
fixedBalls[0].Position = new Vector3(0.7f, 0.6f, 0);
fixedBalls[1].Position = new Vector3(-0.7f, 0.6f, 0);
fixedBalls[2].Position = new Vector3(0.7f, -1, 0);
fixedBalls[3].Position = new Vector3(-0.7f, -1, 0);
ground.Position = new Vector3(0, -3, 0);
#endregion
#region Masses
balls[0].Mass = 5;
balls[1].Mass = 5;
balls[2].Mass = 5;
balls[3].Mass = 1;
balls[4].Mass = 1;
balls[5].Mass = 1;
balls[6].Mass = 1;
balls[7].Mass = 1;
balls[8].Mass = 1;
balls[9].Mass = 1;
balls[10].Mass = 1;
balls[11].Mass = 1;
balls[12].Mass = 1;
balls[13].Mass = 1;
balls[14].Mass = 1;
#endregion
//head and shoulder :)
joints[0] = new Joint(balls[0], balls[1], new Vector3(0, -0.1f,0f), new Vector3(0, 0.15f, 0), 0.05f);
joints[1] = new Joint(balls[1], balls[2], new Vector3(0, -0.15f, 0), new Vector3(0, 0.15f, 0), 0.05f);
//right arm with shoulders
joints[2] = new Joint(balls[1], balls[3], new Vector3(0.1f, 0.1f, 0), new Vector3(-0.04f, 0.03f, 0), 0.05f);
//left arm with shoulders
joints[3] = new Joint(balls[1], balls[6], new Vector3(-0.1f, 0.1f, 0), new Vector3(0.04f, 0.03f, 0), 0.05f);
//right arm
joints[4] = new Joint(balls[3], balls[4], new Vector3(0, -0.05f, 0), new Vector3(0, 0.05f, 0), 0.05f);
joints[5] = new Joint(balls[4], balls[5], new Vector3(0, -0.05f, 0), new Vector3(0, 0.05f, 0), 0.05f);
//left arm
joints[6] = new Joint(balls[6], balls[7], new Vector3(0, -0.05f, 0), new Vector3(0, 0.05f, 0), 0.05f);
joints[7] = new Joint(balls[7], balls[8], new Vector3(0, -0.05f, 0), new Vector3(0, 0.05f, 0), 0.05f);
//Stomach with right leg
joints[8] = new Joint(balls[2], balls[9], new Vector3(0.1f, -0.15f, 0), new Vector3(0, 0.05f, 0), 0.05f);
//Stomach with left leg
joints[9] = new Joint(balls[2], balls[12], new Vector3(-.1f, -0.15f, 0), new Vector3(0, 0.05f, 0), 0.05f);
//right leg
joints[10] = new Joint(balls[9], balls[10], new Vector3(0, -0.05f, 0), new Vector3(0, 0.05f, 0), 0.05f);
joints[11] = new Joint(balls[10], balls[11], new Vector3(0, -0.05f, 0), new Vector3(0, 0.05f, 0), 0.05f);
joints[12] = new Joint(balls[12], balls[13], new Vector3(0, -0.05f, 0), new Vector3(0, 0.05f, 0), 0.05f);
joints[13] = new Joint(balls[13], balls[14], new Vector3(0, -0.05f, 0), new Vector3(0, 0.05f, 0), 0.05f);
Model model = this.Content.Load<Model>(@"ball");
Texture2D texture = this.Content.Load<Texture2D>(@"basic_material");
for (int i = 0; i < NUM_BALLS; i++)
{
balls[i].model = model;
balls[i].Texture = texture;
cg.AddBody(balls[i]);
//balls[i].Mass = 1;
}
for (int i = 0; i < 4; i++)
{
fixedBalls[i].Lock();
fixedBalls[i].model = model;
fixedBalls[i].Texture = texture;
}
cg.AddConductor(new Cable(balls[5], fixedBalls[0], (balls[5].Position - fixedBalls[0].Position).Length(), 0.5f));
cg.AddConductor(new Cable(balls[8], fixedBalls[1], (balls[8].Position - fixedBalls[1].Position).Length(), 0.5f));
cg.AddConductor(new Cable(balls[11], fixedBalls[2], (balls[11].Position - fixedBalls[2].Position).Length(), 0.5f));
cg.AddConductor(new Cable(balls[14], fixedBalls[3], (balls[14].Position - fixedBalls[3].Position).Length(), 0.5f));
ground.Lock();
for (int i = 0; i < NUM_JOINTS; i++)
cg.AddJoint(joints[i]);
cg.AddBody(ground);
camera = new Camera(this, new Vector3(0, 0, 0.1f),
Vector3.Zero, Vector3.Up);
Components.Add(camera);
g = new Gravity(new Vector3(0f, -1f, 0f));
base.Initialize();
}
/// <summary>
/// Allows the game to perform any initialization it needs to before starting to run.
/// This is where it can query for any required services and load any non-graphic
/// related content. Calling base.Initialize will enumerate through any components
/// and initialize them as well.
/// </summary>
protected override void Initialize()
{
// TODO: Add your initialization logic here
camera = new Camera(this, new Vector3(0, 0, 100),
Vector3.Zero, Vector3.Up);
Components.Add(camera);
ball = new Ball(100f);
dummy = new Ball(100f);
crate = new Crate(new Vector3(1,1,1));
crate.Position = new Vector3(20,20,20);
//dummy.InverseMass = 0;
//dummy.InverseInertiaTensor = new Matrix3();
//spring = new Spring(ball, dummy, dummy.Position, 0.3f, 20.0f);
//spring.AddBody(ball);
g = new Gravity(Vector3.Down * 10f);
g.AddBody(ball);
//TODO determine which is down for the world
//BoundingSphereRenderer.InitializeGraphics(GraphicsDevice, 10^100);
base.Initialize();
}
/// <summary>
/// Allows the game component to perform any initialization it needs to before starting
/// to run. This is where it can query for any required services and load content.
/// </summary>
protected override void Initialize()
{
crates = new Crate[NUM_CRATES];
Ball b = new Ball(2);
b.Position = Vector3.Up * 1000;
cg = new ContactGenerator();
cg.AddBody(b);
joints = new Joint[NUM_JOINTS];
#region oldcode
/*
//Arms
crates[0] = new Crate(new Vector3(0.3f, 1f, 0.2f));
crates[1] = new Crate(new Vector3(0.3f, 1f, 0.2f));
crates[2] = new Crate(new Vector3(0.3f, 1f, 0.2f));
crates[3] = new Crate(new Vector3(0.3f, 1f, 0.2f));
crates[4] = new Crate(new Vector3(0.4f, 0.3f, 0.6f));
crates[5] = new Crate(new Vector3(0.3f, 0.3f, 0.6f));
crates[6] = new Crate(new Vector3(0.4f, 0.3f, 0.7f));
crates[7] = new Crate(new Vector3(0.4f, 0.5f, 0.4f));
//Legs
crates[8] = new Crate(new Vector3(0.2f, 0.8f, 0.2f));
crates[9] = new Crate(new Vector3(0.2f, 0.8f, 0.2f));
crates[10] = new Crate(new Vector3(0.2f, 0.8f, 0.2f));
crates[11] = new Crate(new Vector3(0.2f, 0.8f, 0.2f));
crates[0].Position=new Vector3(0,0.9f,-0.5f);
crates[1].Position = new Vector3(0, 3.159f, -0.56f);
crates[2].Position = new Vector3(0, 0.993f, 0.5f);
crates[3].Position = new Vector3(0, 3.15f, 0.56f);
crates[4].Position = new Vector3(-0.054f, 4.683f, 0.013f);
crates[5].Position = new Vector3(0.043f, 5.603f, 0.013f);
crates[6].Position = new Vector3(0, 6.485f, 0.013f);
crates[7].Position = new Vector3(0, 7.759f, 0.013f);
crates[8].Position = new Vector3(0, 5.946f, -1.066f);
crates[9].Position = new Vector3(0, 4.024f, -1.066f);
crates[10].Position = new Vector3(0, 5.946f, 1.066f);
crates[11].Position = new Vector3(0, 4.024f, 1.066f);
for (int i = 0; i < NUM_CRATES; i++)
{
crates[i].Mass = 1;
crates[i].Position = Vector3.Zero;
}
//right leg
joints[0]=new Joint(crates[0],crates[1],new Vector3(0,1,0),new Vector3(0,-1,0),0.15f);
//Left leg
joints[1]=new Joint(crates[2],crates[3],new Vector3(0,1,0),new Vector3(0,-1,0),0.15f);
//right arm
joints[2]=new Joint(crates[9],crates[8],new Vector3(0,1,0),new Vector3(0,-1,0),0.15f);
//left arm
joints[3]=new Joint(crates[8],crates[1],new Vector3(0,1,0),new Vector3(0,-1,0),0.15f);
//stomach to waist
joints[4]=new Joint(crates[4],crates[5],new Vector3(0.05f,0.5f,0),new Vector3(-0.04f,-0.45f,0),0.15f);
//
joints[5]=new Joint(crates[5],crates[6],new Vector3(-0.04f,0.4f,0),new Vector3(0,-4,0),0.15f);
joints[6]=new Joint(crates[6],crates[7],new Vector3(0,0.5f,0),new Vector3(0,-0.7f,0),0.15f);
joints[7]=new Joint(crates[1],crates[4],new Vector3(0,1,0),new Vector3(0,-0.45f,-.5f),0.15f);
joints[8]=new Joint(crates[3],crates[4],new Vector3(0,1,0),new Vector3(0,-0.45f,0.5f),0.15f);
joints[9]=new Joint(crates[6],crates[8],new Vector3(0,0.3f,-.8f),new Vector3(0,0.8f,.3f),0.15f);
joints[10]=new Joint(crates[6],crates[10],new Vector3(0,0.3f,0.8f),new Vector3(0,0.8f,-0.3f),0.15f);
*/
#endregion
//Head
crates[0] = new Crate(new Vector3(0.1f / 2f, 0.1f / 2f, 0.1f / 2f));
//Arms
crates[1] = new Crate(new Vector3(0.1f / 2f, 0.2f / 2f, 0.1f / 2f));
crates[2] = new Crate(new Vector3(0.1f / 2f, 0.3f / 2f, 0.1f / 2f));
crates[3] = new Crate(new Vector3(0.1f / 2f, 0.2f / 2f, 0.1f / 2f));
crates[4] = new Crate(new Vector3(0.1f / 2f, 0.3f / 2f, 0.1f / 2f));
//Shoulder
crates[5] = new Crate(new Vector3(0.5f / 2f, 0.1f / 2f, 0.1f / 2f));
//chest
crates[6] = new Crate(new Vector3(0.4f / 2f, 0.1f / 2f, 0.1f / 2f));
//Stomach
crates[7] = new Crate(new Vector3(0.4f / 2f, 0.1f / 2f, 0.1f / 2f));
//Legs
crates[8] = new Crate(new Vector3(0.1f / 2f, 0.2f / 2f, 0.1f / 2f));
crates[9] = new Crate(new Vector3(0.1f / 2f, 0.2f / 2f, 0.1f / 2f));
crates[10] = new Crate(new Vector3(0.1f / 2f, 0.2f / 2f, 0.1f / 2f));
crates[11] = new Crate(new Vector3(0.1f / 2f, 0.2f / 2f, 0.1f / 2f));
//Head
crates[0].Position = new Vector3(0, 0.45f, 0);
//Arms
crates[1].Position = new Vector3(0.35f, 0.25f, 0);
crates[2].Position = new Vector3(0.35f, -.05f, 0);
crates[3].Position = new Vector3(-0.35f, .25f, 0);
crates[4].Position = new Vector3(-0.35f, -0.05f, 0);
//Shoulder
crates[5].Position = new Vector3(0, 0.3f, -.05f);
//chest
crates[6].Position = new Vector3(0, 0.15f, 0);
//Center Stomach
crates[7].Position = new Vector3(0, 0f, 0.05f);
//legs
crates[8].Position = new Vector3(0.15f, -0.2f, 0);
crates[9].Position = new Vector3(0.15f, -0.45f, 0);
crates[10].Position = new Vector3(-0.15f, -0.2f, 0);
crates[11].Position = new Vector3(-0.15f, -0.45f, 0);
//Head and shoulders :)
joints[0] = new Joint(crates[0], crates[5], new Vector3(0, -0.05f, -0.05f), new Vector3(0, 0.05f, 0), 0.05f);
//right arm
joints[1] = new Joint(crates[1], crates[2], new Vector3(0, -0.1f, 0.05f), new Vector3(0, 0.15f, 0), 0.05f);
//left arm
joints[2] = new Joint(crates[3], crates[4], new Vector3(0, -0.1f, 0.05f), new Vector3(0, 0.15f, 0), 0.05f);
//right leg
joints[3] = new Joint(crates[8], crates[9], new Vector3(0, -0.1f, 0.05f), new Vector3(0, 0.1f, 0), 0.05f);
//left leg
joints[4] = new Joint(crates[10], crates[11], new Vector3(0, -0.1f, 0.05f), new Vector3(0, 0.1f, 0), 0.05f);
//right arm with shoulders
joints[5] = new Joint(crates[5], crates[1], new Vector3(.25f, 0.05f, 0), new Vector3(-0.05f, 0.1f, 0), 0.05f);
//left arm with shoulders
joints[6] = new Joint(crates[5], crates[3], new Vector3(-.25f, 0.05f, 0), new Vector3(0.05f, 0.1f, 0), 0.05f);
joints[7] = new Joint(crates[5], crates[6], new Vector3(0, -0.05f, 0.05f), new Vector3(0, 0.05f, 0), 0.05f);
joints[8] = new Joint(crates[6], crates[7], new Vector3(0, -0.05f, 0), new Vector3(0, 0.05f, -.05f), 0.05f);
joints[9] = new Joint(crates[7], crates[8], new Vector3(.15f, -0.05f, 0), new Vector3(0, 0.1f, 0), 0.05f);
joints[10] = new Joint(crates[7], crates[10], new Vector3(-.15f, -0.05f, 0), new Vector3(0, 0.1f, 0), 0.05f);
for (int i = 0; i < NUM_CRATES; i++)
{
crates[i].InverseMass = 1;
//cg.AddBody(crates[i]);
//crates[i].InverseInertiaTensor = new Matrix();
}
for (int i = 0; i < NUM_JOINTS; i++)
cg.AddJoint(joints[i]);
camera = new Camera(this, new Vector3(0, 0, 0.1f),
Vector3.Zero, Vector3.Up);
Components.Add(camera);
g = new Gravity(new Vector3(0f, -1f, 0f));
//crates[0].InverseMass = 0;
//crates[7].InverseMass = 0;
//crates[6].InverseInertiaTensor = new Matrix();
base.Initialize();
}