public Node CreateHead(Sprite2D sprite, Vector3 relativePosition, float colliderRadius, Vector2 neckAnchor)
{
Node head = Racer2D.CreateSpriteNode(sprite);
head.SetPosition(relativePosition);
Racer2D.AddCollider <CollisionCircle2D>(head).SetRadius(colliderRadius);
// This is the actual neck joint
ConstraintRevolute2D joint = head.CreateComponent <ConstraintRevolute2D>();
joint.SetOtherBody(_rigidBody);
joint.SetAnchor(neckAnchor);
// This is the spring, it's attached to the body with an offset
ConstraintDistance2D spring = head.CreateComponent <ConstraintDistance2D>();
spring.SetOtherBody(_rigidBody);
spring.SetOwnerBodyAnchor(-Vector2.UnitY * 2);
spring.SetOtherBodyAnchor(Node.WorldToLocal2D(head.WorldPosition2D - Vector2.UnitY * 2));
spring.SetFrequencyHz(3);
spring.SetDampingRatio(0.4f);
return(head);
}
void CreateScene()
{
scene = new Scene();
scene.CreateComponent <Octree>();
scene.CreateComponent <DebugRenderer>();
PhysicsWorld2D physicsWorld = scene.CreateComponent <PhysicsWorld2D>(); // Create 2D physics world component
physicsWorld.DrawJoint = true; // Display the joints (Note that DrawDebugGeometry() must be set to true to acually draw the joints)
drawDebug = true; // Set DrawDebugGeometry() to true
// Create camera
CameraNode = scene.CreateChild("Camera");
// Set camera's position
CameraNode.Position = (new Vector3(0.0f, 0.0f, 0.0f)); // Note that Z setting is discarded; use camera.zoom instead (see MoveCamera() below for example)
camera = CameraNode.CreateComponent <Camera>();
camera.Orthographic = true;
var graphics = Graphics;
camera.OrthoSize = (float)graphics.Height * PixelSize;
camera.Zoom = 1.2f * Math.Min((float)graphics.Width / 1280.0f, (float)graphics.Height / 800.0f); // Set zoom according to user's resolution to ensure full visibility (initial zoom (1.2) is set for full visibility at 1280x800 resolution)
// Set up a viewport to the Renderer subsystem so that the 3D scene can be seen
Viewport viewport = new Viewport(Context, scene, camera, null);
Renderer renderer = Renderer;
renderer.SetViewport(0, viewport);
Zone zone = renderer.DefaultZone;
zone.FogColor = (new Color(0.1f, 0.1f, 0.1f)); // Set background color for the scene
// Create 4x3 grid
for (uint i = 0; i < 5; ++i)
{
Node edgeNode = scene.CreateChild("VerticalEdge");
RigidBody2D edgeBody = edgeNode.CreateComponent <RigidBody2D>();
if (dummyBody == null)
{
dummyBody = edgeBody; // Mark first edge as dummy body (used by mouse pick)
}
CollisionEdge2D edgeShape = edgeNode.CreateComponent <CollisionEdge2D>();
edgeShape.SetVertices(new Vector2(i * 2.5f - 5.0f, -3.0f), new Vector2(i * 2.5f - 5.0f, 3.0f));
edgeShape.Friction = 0.5f; // Set friction
}
for (uint j = 0; j < 4; ++j)
{
Node edgeNode = scene.CreateChild("HorizontalEdge");
/*RigidBody2D edgeBody = */
edgeNode.CreateComponent <RigidBody2D>();
CollisionEdge2D edgeShape = edgeNode.CreateComponent <CollisionEdge2D>();
edgeShape.SetVertices(new Vector2(-5.0f, j * 2.0f - 3.0f), new Vector2(5.0f, j * 2.0f - 3.0f));
edgeShape.Friction = 0.5f; // Set friction
}
var cache = ResourceCache;
// Create a box (will be cloned later)
Node box = scene.CreateChild("Box");
box.Position = (new Vector3(0.8f, -2.0f, 0.0f));
StaticSprite2D boxSprite = box.CreateComponent <StaticSprite2D>();
boxSprite.Sprite = cache.GetSprite2D("Urho2D/Box.png");
RigidBody2D boxBody = box.CreateComponent <RigidBody2D>();
boxBody.BodyType = BodyType2D.Dynamic;
boxBody.LinearDamping = 0.0f;
boxBody.AngularDamping = 0.0f;
CollisionBox2D shape = box.CreateComponent <CollisionBox2D>(); // Create box shape
shape.Size = new Vector2(0.32f, 0.32f); // Set size
shape.Density = 1.0f; // Set shape density (kilograms per meter squared)
shape.Friction = 0.5f; // Set friction
shape.Restitution = 0.1f; // Set restitution (slight bounce)
// Create a ball (will be cloned later)
Node ball = scene.CreateChild("Ball");
ball.Position = (new Vector3(1.8f, -2.0f, 0.0f));
StaticSprite2D ballSprite = ball.CreateComponent <StaticSprite2D>();
ballSprite.Sprite = cache.GetSprite2D("Urho2D/Ball.png");
RigidBody2D ballBody = ball.CreateComponent <RigidBody2D>();
ballBody.BodyType = BodyType2D.Dynamic;
ballBody.LinearDamping = 0.0f;
ballBody.AngularDamping = 0.0f;
CollisionCircle2D ballShape = ball.CreateComponent <CollisionCircle2D>(); // Create circle shape
ballShape.Radius = 0.16f; // Set radius
ballShape.Density = 1.0f; // Set shape density (kilograms per meter squared)
ballShape.Friction = 0.5f; // Set friction
ballShape.Restitution = 0.6f; // Set restitution: make it bounce
// Create a polygon
Node polygon = scene.CreateChild("Polygon");
polygon.Position = (new Vector3(1.6f, -2.0f, 0.0f));
polygon.SetScale(0.7f);
StaticSprite2D polygonSprite = polygon.CreateComponent <StaticSprite2D>();
polygonSprite.Sprite = cache.GetSprite2D("Urho2D/Aster.png");
RigidBody2D polygonBody = polygon.CreateComponent <RigidBody2D>();
polygonBody.BodyType = BodyType2D.Dynamic;
CollisionPolygon2D polygonShape = polygon.CreateComponent <CollisionPolygon2D>();
polygonShape.VertexCount = 6; // Set number of vertices (mandatory when using SetVertex())
polygonShape.SetVertex(0, new Vector2(-0.8f, -0.3f));
polygonShape.SetVertex(1, new Vector2(0.5f, -0.8f));
polygonShape.SetVertex(2, new Vector2(0.8f, -0.3f));
polygonShape.SetVertex(3, new Vector2(0.8f, 0.5f));
polygonShape.SetVertex(4, new Vector2(0.5f, 0.9f));
polygonShape.SetVertex(5, new Vector2(-0.5f, 0.7f));
polygonShape.Density = 1.0f; // Set shape density (kilograms per meter squared)
polygonShape.Friction = 0.3f; // Set friction
polygonShape.Restitution = 0.0f; // Set restitution (no bounce)
// Create a ConstraintDistance2D
CreateFlag("ConstraintDistance2D", -4.97f, 3.0f); // Display Text3D flag
Node boxDistanceNode = box.Clone(CreateMode.Replicated);
Node ballDistanceNode = ball.Clone(CreateMode.Replicated);
RigidBody2D ballDistanceBody = ballDistanceNode.GetComponent <RigidBody2D>();
boxDistanceNode.Position = (new Vector3(-4.5f, 2.0f, 0.0f));
ballDistanceNode.Position = (new Vector3(-3.0f, 2.0f, 0.0f));
ConstraintDistance2D constraintDistance = boxDistanceNode.CreateComponent <ConstraintDistance2D>(); // Apply ConstraintDistance2D to box
constraintDistance.OtherBody = ballDistanceBody; // Constrain ball to box
constraintDistance.OwnerBodyAnchor = boxDistanceNode.Position2D;
constraintDistance.OtherBodyAnchor = ballDistanceNode.Position2D;
// Make the constraint soft (comment to make it rigid, which is its basic behavior)
constraintDistance.FrequencyHz = 4.0f;
constraintDistance.DampingRatio = 0.5f;
// Create a ConstraintFriction2D ********** Not functional. From Box2d samples it seems that 2 anchors are required, Urho2D only provides 1, needs investigation ***********
CreateFlag("ConstraintFriction2D", 0.03f, 1.0f); // Display Text3D flag
Node boxFrictionNode = box.Clone(CreateMode.Replicated);
Node ballFrictionNode = ball.Clone(CreateMode.Replicated);
boxFrictionNode.Position = (new Vector3(0.5f, 0.0f, 0.0f));
ballFrictionNode.Position = (new Vector3(1.5f, 0.0f, 0.0f));
ConstraintFriction2D constraintFriction = boxFrictionNode.CreateComponent <ConstraintFriction2D>(); // Apply ConstraintDistance2D to box
constraintFriction.OtherBody = ballFrictionNode.GetComponent <RigidBody2D>(); // Constraint ball to box
// Create a ConstraintGear2D
CreateFlag("ConstraintGear2D", -4.97f, -1.0f); // Display Text3D flag
Node baseNode = box.Clone(CreateMode.Replicated);
RigidBody2D tempBody = baseNode.GetComponent <RigidBody2D>(); // Get body to make it static
tempBody.BodyType = BodyType2D.Static;
baseNode.Position = (new Vector3(-3.7f, -2.5f, 0.0f));
Node ball1Node = ball.Clone(CreateMode.Replicated);
ball1Node.Position = (new Vector3(-4.5f, -2.0f, 0.0f));
RigidBody2D ball1Body = ball1Node.GetComponent <RigidBody2D>();
Node ball2Node = ball.Clone(CreateMode.Replicated);
ball2Node.Position = (new Vector3(-3.0f, -2.0f, 0.0f));
RigidBody2D ball2Body = ball2Node.GetComponent <RigidBody2D>();
ConstraintRevolute2D gear1 = baseNode.CreateComponent <ConstraintRevolute2D>(); // Apply constraint to baseBox
gear1.OtherBody = ball1Body; // Constrain ball1 to baseBox
gear1.Anchor = ball1Node.Position2D;
ConstraintRevolute2D gear2 = baseNode.CreateComponent <ConstraintRevolute2D>(); // Apply constraint to baseBox
gear2.OtherBody = ball2Body; // Constrain ball2 to baseBox
gear2.Anchor = ball2Node.Position2D;
ConstraintGear2D constraintGear = ball1Node.CreateComponent <ConstraintGear2D>(); // Apply constraint to ball1
constraintGear.OtherBody = ball2Body; // Constrain ball2 to ball1
constraintGear.OwnerConstraint = gear1;
constraintGear.OtherConstraint = gear2;
constraintGear.Ratio = 1.0f;
ball1Body.ApplyAngularImpulse(0.015f, true); // Animate
// Create a vehicle from a compound of 2 ConstraintWheel2Ds
CreateFlag("ConstraintWheel2Ds compound", -2.45f, -1.0f); // Display Text3D flag
Node car = box.Clone(CreateMode.Replicated);
car.Scale = new Vector3(4.0f, 1.0f, 0.0f);
car.Position = (new Vector3(-1.2f, -2.3f, 0.0f));
StaticSprite2D tempSprite = car.GetComponent <StaticSprite2D>(); // Get car Sprite in order to draw it on top
tempSprite.OrderInLayer = 0; // Draw car on top of the wheels (set to -1 to draw below)
Node ball1WheelNode = ball.Clone(CreateMode.Replicated);
ball1WheelNode.Position = (new Vector3(-1.6f, -2.5f, 0.0f));
Node ball2WheelNode = ball.Clone(CreateMode.Replicated);
ball2WheelNode.Position = (new Vector3(-0.8f, -2.5f, 0.0f));
ConstraintWheel2D wheel1 = car.CreateComponent <ConstraintWheel2D>();
wheel1.OtherBody = ball1WheelNode.GetComponent <RigidBody2D>();
wheel1.Anchor = ball1WheelNode.Position2D;
wheel1.Axis = new Vector2(0.0f, 1.0f);
wheel1.MaxMotorTorque = 20.0f;
wheel1.FrequencyHz = 4.0f;
wheel1.DampingRatio = 0.4f;
ConstraintWheel2D wheel2 = car.CreateComponent <ConstraintWheel2D>();
wheel2.OtherBody = ball2WheelNode.GetComponent <RigidBody2D>();
wheel2.Anchor = ball2WheelNode.Position2D;
wheel2.Axis = new Vector2(0.0f, 1.0f);
wheel2.MaxMotorTorque = 10.0f;
wheel2.FrequencyHz = 4.0f;
wheel2.DampingRatio = 0.4f;
// ConstraintMotor2D
CreateFlag("ConstraintMotor2D", 2.53f, -1.0f); // Display Text3D flag
Node boxMotorNode = box.Clone(CreateMode.Replicated);
tempBody = boxMotorNode.GetComponent <RigidBody2D>(); // Get body to make it static
tempBody.BodyType = BodyType2D.Static;
Node ballMotorNode = ball.Clone(CreateMode.Replicated);
boxMotorNode.Position = (new Vector3(3.8f, -2.1f, 0.0f));
ballMotorNode.Position = (new Vector3(3.8f, -1.5f, 0.0f));
ConstraintMotor2D constraintMotor = boxMotorNode.CreateComponent <ConstraintMotor2D>();
constraintMotor.OtherBody = ballMotorNode.GetComponent <RigidBody2D>(); // Constrain ball to box
constraintMotor.LinearOffset = new Vector2(0.0f, 0.8f); // Set ballNode position relative to boxNode position = (0,0)
constraintMotor.AngularOffset = 0.1f;
constraintMotor.MaxForce = 5.0f;
constraintMotor.MaxTorque = 10.0f;
constraintMotor.CorrectionFactor = 1.0f;
constraintMotor.CollideConnected = true; // doesn't work
// ConstraintMouse2D is demonstrated in HandleMouseButtonDown() function. It is used to "grasp" the sprites with the mouse.
CreateFlag("ConstraintMouse2D", 0.03f, -1.0f); // Display Text3D flag
// Create a ConstraintPrismatic2D
CreateFlag("ConstraintPrismatic2D", 2.53f, 3.0f); // Display Text3D flag
Node boxPrismaticNode = box.Clone(CreateMode.Replicated);
tempBody = boxPrismaticNode.GetComponent <RigidBody2D>(); // Get body to make it static
tempBody.BodyType = BodyType2D.Static;
Node ballPrismaticNode = ball.Clone(CreateMode.Replicated);
boxPrismaticNode.Position = new Vector3(3.3f, 2.5f, 0.0f);
ballPrismaticNode.Position = new Vector3(4.3f, 2.0f, 0.0f);
ConstraintPrismatic2D constraintPrismatic = boxPrismaticNode.CreateComponent <ConstraintPrismatic2D>();
constraintPrismatic.OtherBody = ballPrismaticNode.GetComponent <RigidBody2D>(); // Constrain ball to box
constraintPrismatic.Axis = new Vector2(1.0f, 1.0f); // Slide from [0,0] to [1,1]
constraintPrismatic.Anchor = new Vector2(4.0f, 2.0f);
constraintPrismatic.LowerTranslation = -1.0f;
constraintPrismatic.UpperTranslation = 0.5f;
constraintPrismatic.EnableLimit = true;
constraintPrismatic.MaxMotorForce = 1.0f;
constraintPrismatic.MotorSpeed = 0.0f;
// ConstraintPulley2D
CreateFlag("ConstraintPulley2D", 0.03f, 3.0f); // Display Text3D flag
Node boxPulleyNode = box.Clone(CreateMode.Replicated);
Node ballPulleyNode = ball.Clone(CreateMode.Replicated);
boxPulleyNode.Position = (new Vector3(0.5f, 2.0f, 0.0f));
ballPulleyNode.Position = (new Vector3(2.0f, 2.0f, 0.0f));
ConstraintPulley2D constraintPulley = boxPulleyNode.CreateComponent <ConstraintPulley2D>(); // Apply constraint to box
constraintPulley.OtherBody = ballPulleyNode.GetComponent <RigidBody2D>(); // Constrain ball to box
constraintPulley.OwnerBodyAnchor = boxPulleyNode.Position2D;
constraintPulley.OtherBodyAnchor = ballPulleyNode.Position2D;
constraintPulley.OwnerBodyGroundAnchor = boxPulleyNode.Position2D + new Vector2(0.0f, 1.0f);
constraintPulley.OtherBodyGroundAnchor = ballPulleyNode.Position2D + new Vector2(0.0f, 1.0f);
constraintPulley.Ratio = 1.0f; // Weight ratio between ownerBody and otherBody
// Create a ConstraintRevolute2D
CreateFlag("ConstraintRevolute2D", -2.45f, 3.0f); // Display Text3D flag
Node boxRevoluteNode = box.Clone(CreateMode.Replicated);
tempBody = boxRevoluteNode.GetComponent <RigidBody2D>(); // Get body to make it static
tempBody.BodyType = BodyType2D.Static;
Node ballRevoluteNode = ball.Clone(CreateMode.Replicated);
boxRevoluteNode.Position = (new Vector3(-2.0f, 1.5f, 0.0f));
ballRevoluteNode.Position = (new Vector3(-1.0f, 2.0f, 0.0f));
ConstraintRevolute2D constraintRevolute = boxRevoluteNode.CreateComponent <ConstraintRevolute2D>(); // Apply constraint to box
constraintRevolute.OtherBody = ballRevoluteNode.GetComponent <RigidBody2D>(); // Constrain ball to box
constraintRevolute.Anchor = new Vector2(-1.0f, 1.5f);
constraintRevolute.LowerAngle = -1.0f; // In radians
constraintRevolute.UpperAngle = 0.5f; // In radians
constraintRevolute.EnableLimit = true;
constraintRevolute.MaxMotorTorque = 10.0f;
constraintRevolute.MotorSpeed = 0.0f;
constraintRevolute.EnableMotor = true;
// Create a ConstraintRope2D
CreateFlag("ConstraintRope2D", -4.97f, 1.0f); // Display Text3D flag
Node boxRopeNode = box.Clone(CreateMode.Replicated);
tempBody = boxRopeNode.GetComponent <RigidBody2D>();
tempBody.BodyType = BodyType2D.Static;
Node ballRopeNode = ball.Clone(CreateMode.Replicated);
boxRopeNode.Position = (new Vector3(-3.7f, 0.7f, 0.0f));
ballRopeNode.Position = (new Vector3(-4.5f, 0.0f, 0.0f));
ConstraintRope2D constraintRope = boxRopeNode.CreateComponent <ConstraintRope2D>();
constraintRope.OtherBody = ballRopeNode.GetComponent <RigidBody2D>(); // Constrain ball to box
constraintRope.OwnerBodyAnchor = new Vector2(0.0f, -0.5f); // Offset from box (OwnerBody) : the rope is rigid from OwnerBody center to this ownerBodyAnchor
constraintRope.MaxLength = 0.9f; // Rope length
constraintRope.CollideConnected = true;
// Create a ConstraintWeld2D
CreateFlag("ConstraintWeld2D", -2.45f, 1.0f); // Display Text3D flag
Node boxWeldNode = box.Clone(CreateMode.Replicated);
Node ballWeldNode = ball.Clone(CreateMode.Replicated);
boxWeldNode.Position = (new Vector3(-0.5f, 0.0f, 0.0f));
ballWeldNode.Position = (new Vector3(-2.0f, 0.0f, 0.0f));
ConstraintWeld2D constraintWeld = boxWeldNode.CreateComponent <ConstraintWeld2D>();
constraintWeld.OtherBody = ballWeldNode.GetComponent <RigidBody2D>(); // Constrain ball to box
constraintWeld.Anchor = boxWeldNode.Position2D;
constraintWeld.FrequencyHz = 4.0f;
constraintWeld.DampingRatio = 0.5f;
// Create a ConstraintWheel2D
CreateFlag("ConstraintWheel2D", 2.53f, 1.0f); // Display Text3D flag
Node boxWheelNode = box.Clone(CreateMode.Replicated);
Node ballWheelNode = ball.Clone(CreateMode.Replicated);
boxWheelNode.Position = (new Vector3(3.8f, 0.0f, 0.0f));
ballWheelNode.Position = (new Vector3(3.8f, 0.9f, 0.0f));
ConstraintWheel2D constraintWheel = boxWheelNode.CreateComponent <ConstraintWheel2D>();
constraintWheel.OtherBody = ballWheelNode.GetComponent <RigidBody2D>(); // Constrain ball to box
constraintWheel.Anchor = ballWheelNode.Position2D;
constraintWheel.Axis = new Vector2(0.0f, 1.0f);
constraintWheel.EnableMotor = true;
constraintWheel.MaxMotorTorque = 1.0f;
constraintWheel.MotorSpeed = 0.0f;
constraintWheel.FrequencyHz = 4.0f;
constraintWheel.DampingRatio = 0.5f;
constraintWheel.CollideConnected = true; // doesn't work
}
