public override void Keyboard(KeyboardManager keyboardManager)
{
if (keyboardManager.IsNewKeyPress(Keys.A))
{
_spring1.MotorSpeed = _speed;
}
else if (keyboardManager.IsNewKeyPress(Keys.S))
{
_spring1.MotorSpeed = 0.0f;
}
else if (keyboardManager.IsNewKeyPress(Keys.D))
{
_spring1.MotorSpeed = -_speed;
}
else if (keyboardManager.IsNewKeyPress(Keys.Q))
{
_hz = Math.Max(0.0f, _hz - 1.0f);
JointHelper.LinearStiffness(_hz, 0, _spring1.BodyA, _spring1.BodyB, out float stiffness, out _);
_spring1.Stiffness = stiffness;
_spring2.Stiffness = stiffness;
}
else if (keyboardManager.IsNewKeyPress(Keys.E))
{
_hz += 1.0f;
JointHelper.LinearStiffness(_hz, 0, _spring1.BodyA, _spring1.BodyB, out float stiffness, out _);
_spring1.Stiffness = stiffness;
_spring2.Stiffness = stiffness;
}
base.Keyboard(keyboardManager);
}
void Start()
{
lever = hinge.GetComponent <Lever>();
lever.LeverPercentage = 0;
audio = GetComponent <AudioSource>();
jointHelper = GetComponent <JointHelper>();
wrenchEnabled = true;
}
public override void LoadContent()
{
base.LoadContent();
World.Gravity = new Vector2(0f, 20f);
_obstacles = BodyFactory.CreateBody(World);
FixtureFactory.AttachEdge(new Vector2(-16f, -1f), new Vector2(-14f, 1f), _obstacles);
FixtureFactory.AttachEdge(new Vector2(-14f, 1f), new Vector2(-12f, -1f), _obstacles);
FixtureFactory.AttachEdge(new Vector2(14f, -1f), new Vector2(12f, 5f), _obstacles);
FixtureFactory.AttachEdge(new Vector2(14f, -1f), new Vector2(16f, 5f), _obstacles);
_angleBody[0] = BodyFactory.CreateRectangle(World, 1.5f, 1.5f, 1f);
_angleBody[0].BodyType = BodyType.Dynamic;
_angleBody[0].Friction = 0.7f;
_angleBody[0].Position = new Vector2(-15f, -5f);
_angleBody[1] = BodyFactory.CreateRectangle(World, 1.5f, 1.5f, 1f);
_angleBody[1].BodyType = BodyType.Dynamic;
_angleBody[1].Friction = 0.7f;
_angleBody[1].Position = new Vector2(-18f, 5f);
_angleBody[2] = BodyFactory.CreateRectangle(World, 1.5f, 1.5f, 1f);
_angleBody[2].BodyType = BodyType.Dynamic;
_angleBody[2].Friction = 0.7f;
_angleBody[2].Position = new Vector2(-10f, 5f);
World.AddJoint(new AngleJoint(_angleBody[0], _angleBody[1]));
World.AddJoint(new AngleJoint(_angleBody[0], _angleBody[2]));
_distanceBody[0] = BodyFactory.CreateRectangle(World, 1.5f, 1.5f, 1f);
_distanceBody[0].BodyType = BodyType.Dynamic;
_distanceBody[0].Friction = 0.7f;
_distanceBody[0].Position = new Vector2(11.5f, -4f);
_distanceBody[1] = BodyFactory.CreateRectangle(World, 1.5f, 1.5f, 1f);
_distanceBody[1].BodyType = BodyType.Dynamic;
_distanceBody[1].Friction = 0.7f;
_distanceBody[1].Position = new Vector2(16.5f, -4f);
_distanceBody[2] = BodyFactory.CreateRectangle(World, 1.5f, 1.5f, 1f);
_distanceBody[2].BodyType = BodyType.Dynamic;
_distanceBody[2].Friction = 0.7f;
_distanceBody[2].Position = new Vector2(11.5f, -6f);
_distanceBody[3] = BodyFactory.CreateRectangle(World, 1.5f, 1.5f, 1f);
_distanceBody[3].BodyType = BodyType.Dynamic;
_distanceBody[3].Friction = 0.7f;
_distanceBody[3].Position = new Vector2(16.5f, -6f);
DistanceJoint softDistance = new DistanceJoint(_distanceBody[0], _distanceBody[1], Vector2.Zero, Vector2.Zero);
JointHelper.LinearStiffness(5f, 0.3f, softDistance.BodyA, softDistance.BodyB, out var stiffness, out var damping);
softDistance.Damping = damping;
softDistance.Stiffness = stiffness;
World.AddJoint(softDistance);
World.AddJoint(new DistanceJoint(_distanceBody[2], _distanceBody[3], Vector2.Zero, Vector2.Zero));
// create sprites based on bodies
_angleCube = new Sprite(Managers.TextureManager.TextureFromShape(_angleBody[0].FixtureList[0].Shape, "Square", Colors.Gold, Colors.Orange, Colors.Grey, 1f));
_distanceCube = new Sprite(Managers.TextureManager.TextureFromShape(_distanceBody[0].FixtureList[0].Shape, "Stripe", Colors.Red, Colors.Blue, Colors.Grey, 4f));
}
private void FixedUpdate()
{
if (fixedJoint && !fixedJoint.connectedBody)
{
JointHelper.Disconnect(fixedJoint, true);
fixedJoint = null;
Debug.Log("disconnect, connected body lost");
}
}
void Start()
{
grabbable = hinge.GetComponent <Grabbable>();
wrenchCollider = GetComponent <Collider>();
lever = hinge.GetComponent <Lever>();
wrenchRigidbody = GetComponent <Rigidbody>();
hingeRigidbody = hinge.GetComponent <Rigidbody>();
jointHelper = hinge.GetComponent <JointHelper>();
audio = GetComponent <AudioSource>();
}
private void OnCollisionEnter(Collision collisionInfo)
{
SeaMoth componentInParent = collisionInfo.gameObject.GetComponentInParent <SeaMoth>();
GrapplingHook component = collisionInfo.gameObject.GetComponent <GrapplingHook>();
if (staticAttached || (fixedJoint && fixedJoint.connectedBody) || componentInParent != null || component != null)
{
return;
}
Rigidbody targetRigidbody = GetTargetRigidbody(collisionInfo.gameObject);
rb.velocity = Vector3.zero;
if (targetRigidbody != null && JointHelper.ConnectFixed(gameObject, targetRigidbody))
{
staticAttached = false;
}
else
{
staticAttached = true;
rb.isKinematic = true;
}
Utils.PlayFMODAsset(hitSound, transform, 5f);
Vector3 vector = default(Vector3);
int num = 0;
for (int i = 0; i < collisionInfo.contacts.Length; i++)
{
ContactPoint contactPoint = collisionInfo.contacts[i];
if (num == 0)
{
vector = contactPoint.normal;
}
else
{
vector += contactPoint.normal;
}
num++;
}
if (num > 0)
{
vector /= num;
Vector3 eulerAngles = Quaternion.LookRotation(transform.forward, vector).eulerAngles;
eulerAngles.z -= 90f;
transform.eulerAngles = eulerAngles;
}
VFXSurface component2 = collisionInfo.gameObject.GetComponent <VFXSurface>();
VFXSurfaceTypeManager.main.Play(component2, VFXEventTypes.impact, transform.position, transform.rotation, null);
}
public void Release()
{
if (fixedJoint)
{
JointHelper.Disconnect(fixedJoint, true);
fixedJoint = null;
}
fxControl.StopAndDestroy(0, 1.5f);
staticAttached = false;
}
private WheelJointTest()
{
Body ground;
{
BodyDef bd = new BodyDef();
ground = BodyFactory.CreateFromDef(World, bd);
EdgeShape shape = new EdgeShape();
shape.SetTwoSided(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
ground.AddFixture(shape);
}
_enableLimit = true;
_enableMotor = false;
_motorSpeed = 10.0f;
{
CircleShape shape = new CircleShape(5.0f);
shape.Radius = 2.0f;
BodyDef bd = new BodyDef();
bd.Type = BodyType.Dynamic;
bd.Position = new Vector2(0.0f, 10.0f);
bd.AllowSleep = false;
Body body = BodyFactory.CreateFromDef(World, bd);
body.AddFixture(shape);
WheelJointDef jd = new WheelJointDef();
// Horizontal
jd.Initialize(ground, body, bd.Position, new Vector2(0.0f, 1.0f));
jd.MotorSpeed = _motorSpeed;
jd.MaxMotorTorque = 10000.0f;
jd.EnableMotor = _enableMotor;
jd.LowerTranslation = -3.0f;
jd.UpperTranslation = 3.0f;
jd.EnableLimit = _enableLimit;
float hertz = 1.0f;
float dampingRatio = 0.7f;
JointHelper.LinearStiffness(hertz, dampingRatio, ground, body, out float stiffness, out float damping);
jd.Stiffness = stiffness;
jd.Damping = damping;
_joint = (WheelJoint)JointFactory.CreateFromDef(World, jd);
}
}
private DistanceJointTest()
{
Body ground = BodyFactory.CreateEdge(World, new Vector2(-40, 0), new Vector2(40, 0));
Body body = BodyFactory.CreateRectangle(World, 1f, 1f, 5.0f, new Vector2(0, 5), bodyType: BodyType.Dynamic);
body.SleepingAllowed = false;
body.AngularDamping = 0.1f;
float hertz = 1.0f;
float dampingRatio = 0.7f;
_joint = JointFactory.CreateDistanceJoint(World, ground, body, new Vector2(0, 15), body.Position, true);
_joint.CollideConnected = true;
JointHelper.LinearStiffness(hertz, dampingRatio, _joint.BodyA, _joint.BodyB, out float stiffness, out float damping);
_joint.Stiffness = stiffness;
_joint.Damping = damping;
_joint.MaxLength = _joint.Length;
_joint.MinLength = _joint.Length;
}
private DistanceJointTest()
{
Body ground;
{
BodyDef bd = new BodyDef();
ground = BodyFactory.CreateFromDef(World, bd);
EdgeShape shape = new EdgeShape();
shape.SetTwoSided(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
ground.AddFixture(shape);
}
{
BodyDef bd = new BodyDef();
bd.Type = BodyType.Dynamic;
bd.AngularDamping = 0.1f;
bd.Position = new Vector2(0.0f, 5.0f);
Body body = BodyFactory.CreateFromDef(World, bd);
PolygonShape shape = new PolygonShape(5.0f);
shape.SetAsBox(0.5f, 0.5f);
body.AddFixture(shape);
_hertz = 1.0f;
_dampingRatio = 0.7f;
DistanceJointDef jd = new DistanceJointDef();
jd.Initialize(ground, body, new Vector2(0.0f, 15.0f), bd.Position);
jd.CollideConnected = true;
_length = jd.Length;
_minLength = _length;
_maxLength = _length;
JointHelper.LinearStiffness(_hertz, _dampingRatio, jd.BodyA, jd.BodyB, out float stiffness, out float damping);
jd.Stiffness = stiffness;
jd.Damping = damping;
_joint = (DistanceJoint)JointFactory.CreateFromDef(World, jd);
}
}
private void MouseDown(Vector2 p)
{
if (_fixedMouseJoint != null)
{
return;
}
Fixture fixture = World.TestPoint(p);
if (fixture != null)
{
Body body = fixture.Body;
_fixedMouseJoint = new FixedMouseJoint(body, p);
_fixedMouseJoint.MaxForce = 1000.0f * body.Mass;
JointHelper.LinearStiffness(5.0f, 0.7f, body, null, out float stiffness, out float damping);
_fixedMouseJoint.Stiffness = stiffness;
_fixedMouseJoint.Damping = damping;
World.AddJoint(_fixedMouseJoint);
body.Awake = true;
}
}
private DominosTest()
{
Body b1;
{
EdgeShape shape = new EdgeShape();
shape.SetTwoSided(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
BodyDef bd = new BodyDef();
b1 = BodyFactory.CreateFromDef(World, bd);
b1.AddFixture(shape);
}
{
PolygonShape shape = new PolygonShape(0.0f);
shape.SetAsBox(6.0f, 0.25f);
BodyDef bd = new BodyDef();
bd.Position = new Vector2(-1.5f, 10.0f);
Body ground = BodyFactory.CreateFromDef(World, bd);
ground.AddFixture(shape);
}
{
PolygonShape shape = new PolygonShape(20.0f);
shape.SetAsBox(0.1f, 1.0f);
FixtureDef fd = new FixtureDef();
fd.Shape = shape;
fd.Friction = 0.1f;
for (int i = 0; i < 10; ++i)
{
BodyDef bd = new BodyDef();
bd.Type = BodyType.Dynamic;
bd.Position = new Vector2(-6.0f + 1.0f * i, 11.25f);
Body body = BodyFactory.CreateFromDef(World, bd);
body.AddFixture(fd);
}
}
{
PolygonShape shape = new PolygonShape(0.0f);
shape.SetAsBox(7.0f, 0.25f, Vector2.Zero, 0.3f);
BodyDef bd = new BodyDef();
bd.Position = new Vector2(1.0f, 6.0f);
Body ground = BodyFactory.CreateFromDef(World, bd);
ground.AddFixture(shape);
}
Body b2;
{
PolygonShape shape = new PolygonShape(0.02f);
shape.SetAsBox(0.25f, 1.5f);
BodyDef bd = new BodyDef();
bd.Position = new Vector2(-7.0f, 4.0f);
b2 = BodyFactory.CreateFromDef(World, bd);
b2.AddFixture(shape);
}
Body b3;
{
PolygonShape shape = new PolygonShape(10.0f);
shape.SetAsBox(6.0f, 0.125f);
BodyDef bd = new BodyDef();
bd.Type = BodyType.Dynamic;
bd.Position = new Vector2(-0.9f, 1.0f);
bd.Angle = -0.15f;
b3 = BodyFactory.CreateFromDef(World, bd);
b3.AddFixture(shape);
}
RevoluteJointDef jd = new RevoluteJointDef();
Vector2 anchor;
anchor = new Vector2(-2.0f, 1.0f);
jd.Initialize(b1, b3, anchor);
jd.CollideConnected = true;
JointFactory.CreateFromDef(World, jd);
Body b4;
{
PolygonShape shape = new PolygonShape(10.0f);
shape.SetAsBox(0.25f, 0.25f);
BodyDef bd = new BodyDef();
bd.Type = BodyType.Dynamic;
bd.Position = new Vector2(-10.0f, 15.0f);
b4 = BodyFactory.CreateFromDef(World, bd);
b4.AddFixture(shape);
}
anchor = new Vector2(-7.0f, 15.0f);
jd.Initialize(b2, b4, anchor);
JointFactory.CreateFromDef(World, jd);
Body b5;
{
BodyDef bd = new BodyDef();
bd.Type = BodyType.Dynamic;
bd.Position = new Vector2(6.5f, 3.0f);
b5 = BodyFactory.CreateFromDef(World, bd);
PolygonShape shape = new PolygonShape(10.0f);
FixtureDef fd = new FixtureDef();
fd.Shape = shape;
fd.Friction = 0.1f;
shape.SetAsBox(1.0f, 0.1f, new Vector2(0.0f, -0.9f), 0.0f);
b5.AddFixture(fd);
shape.SetAsBox(0.1f, 1.0f, new Vector2(-0.9f, 0.0f), 0.0f);
b5.AddFixture(fd);
shape.SetAsBox(0.1f, 1.0f, new Vector2(0.9f, 0.0f), 0.0f);
b5.AddFixture(fd);
}
anchor = new Vector2(6.0f, 2.0f);
jd.Initialize(b1, b5, anchor);
JointFactory.CreateFromDef(World, jd);
Body b6;
{
PolygonShape shape = new PolygonShape(30.0f);
shape.SetAsBox(1.0f, 0.1f);
BodyDef bd = new BodyDef();
bd.Type = BodyType.Dynamic;
bd.Position = new Vector2(6.5f, 4.1f);
b6 = BodyFactory.CreateFromDef(World, bd);
b6.AddFixture(shape);
}
anchor = new Vector2(7.5f, 4.0f);
jd.Initialize(b5, b6, anchor);
JointFactory.CreateFromDef(World, jd);
Body b7;
{
PolygonShape shape = new PolygonShape(10.0f);
shape.SetAsBox(0.1f, 1.0f);
BodyDef bd = new BodyDef();
bd.Type = BodyType.Dynamic;
bd.Position = new Vector2(7.4f, 1.0f);
b7 = BodyFactory.CreateFromDef(World, bd);
b7.AddFixture(shape);
}
DistanceJointDef djd = new DistanceJointDef();
djd.BodyA = b3;
djd.BodyB = b7;
djd.LocalAnchorA = new Vector2(6.0f, 0.0f);
djd.LocalAnchorB = new Vector2(0.0f, -1.0f);
Vector2 d = djd.BodyB.GetWorldPoint(djd.LocalAnchorB) - djd.BodyA.GetWorldPoint(djd.LocalAnchorA);
djd.Length = d.Length();
JointHelper.LinearStiffness(1.0f, 1.0f, djd.BodyA, djd.BodyB, out float stiffness, out float damping);
djd.Stiffness = stiffness;
djd.Damping = damping;
JointFactory.CreateFromDef(World, djd);
{
float radius = 0.2f;
CircleShape shape = new CircleShape(10.0f);
shape.Radius = radius;
for (int i = 0; i < 4; ++i)
{
BodyDef bd = new BodyDef();
bd.Type = BodyType.Dynamic;
bd.Position = new Vector2(5.9f + 2.0f * radius * i, 2.4f);
Body body = BodyFactory.CreateFromDef(World, bd);
body.AddFixture(shape);
}
}
}
private WebTest()
{
Body ground;
{
BodyDef bd = new BodyDef();
ground = BodyFactory.CreateFromDef(World, bd);
EdgeShape shape = new EdgeShape();
shape.SetTwoSided(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
ground.AddFixture(shape);
}
{
PolygonShape shape = new PolygonShape(5.0f);
shape.SetAsBox(0.5f, 0.5f);
BodyDef bd = new BodyDef();
bd.Type = BodyType.Dynamic;
bd.Position = new Vector2(-5.0f, 5.0f);
_bodies[0] = BodyFactory.CreateFromDef(World, bd);
_bodies[0].AddFixture(shape);
bd.Position = new Vector2(5.0f, 5.0f);
_bodies[1] = BodyFactory.CreateFromDef(World, bd);
_bodies[1].AddFixture(shape);
bd.Position = new Vector2(5.0f, 15.0f);
_bodies[2] = BodyFactory.CreateFromDef(World, bd);
_bodies[2].AddFixture(shape);
bd.Position = new Vector2(-5.0f, 15.0f);
_bodies[3] = BodyFactory.CreateFromDef(World, bd);
_bodies[3].AddFixture(shape);
DistanceJointDef jd = new DistanceJointDef();
Vector2 p1, p2, d;
float frequencyHz = 2.0f;
float dampingRatio = 0.0f;
jd.BodyA = ground;
jd.BodyB = _bodies[0];
jd.LocalAnchorA = new Vector2(-10.0f, 0.0f);
jd.LocalAnchorB = new Vector2(-0.5f, -0.5f);
p1 = jd.BodyA.GetWorldPoint(jd.LocalAnchorA);
p2 = jd.BodyB.GetWorldPoint(jd.LocalAnchorB);
d = p2 - p1;
jd.Length = d.Length();
JointHelper.LinearStiffness(frequencyHz, dampingRatio, jd.BodyA, jd.BodyB, out float stiffness, out float damping);
jd.Stiffness = stiffness;
jd.Damping = damping;
_joints[0] = JointFactory.CreateFromDef(World, jd);
jd.BodyA = ground;
jd.BodyB = _bodies[1];
jd.LocalAnchorA = new Vector2(10.0f, 0.0f);
jd.LocalAnchorB = new Vector2(0.5f, -0.5f);
p1 = jd.BodyA.GetWorldPoint(jd.LocalAnchorA);
p2 = jd.BodyB.GetWorldPoint(jd.LocalAnchorB);
d = p2 - p1;
jd.Length = d.Length();
JointHelper.LinearStiffness(frequencyHz, dampingRatio, jd.BodyA, jd.BodyB, out stiffness, out damping);
jd.Stiffness = stiffness;
jd.Damping = damping;
_joints[1] = JointFactory.CreateFromDef(World, jd);
jd.BodyA = ground;
jd.BodyB = _bodies[2];
jd.LocalAnchorA = new Vector2(10.0f, 20.0f);
jd.LocalAnchorB = new Vector2(0.5f, 0.5f);
p1 = jd.BodyA.GetWorldPoint(jd.LocalAnchorA);
p2 = jd.BodyB.GetWorldPoint(jd.LocalAnchorB);
d = p2 - p1;
jd.Length = d.Length();
JointHelper.LinearStiffness(frequencyHz, dampingRatio, jd.BodyA, jd.BodyB, out stiffness, out damping);
jd.Stiffness = stiffness;
jd.Damping = damping;
_joints[2] = JointFactory.CreateFromDef(World, jd);
jd.BodyA = ground;
jd.BodyB = _bodies[3];
jd.LocalAnchorA = new Vector2(-10.0f, 20.0f);
jd.LocalAnchorB = new Vector2(-0.5f, 0.5f);
p1 = jd.BodyA.GetWorldPoint(jd.LocalAnchorA);
p2 = jd.BodyB.GetWorldPoint(jd.LocalAnchorB);
d = p2 - p1;
jd.Length = d.Length();
JointHelper.LinearStiffness(frequencyHz, dampingRatio, jd.BodyA, jd.BodyB, out stiffness, out damping);
jd.Stiffness = stiffness;
jd.Damping = damping;
_joints[3] = JointFactory.CreateFromDef(World, jd);
jd.BodyA = _bodies[0];
jd.BodyB = _bodies[1];
jd.LocalAnchorA = new Vector2(0.5f, 0.0f);
jd.LocalAnchorB = new Vector2(-0.5f, 0.0f);
p1 = jd.BodyA.GetWorldPoint(jd.LocalAnchorA);
p2 = jd.BodyB.GetWorldPoint(jd.LocalAnchorB);
d = p2 - p1;
jd.Length = d.Length();
JointHelper.LinearStiffness(frequencyHz, dampingRatio, jd.BodyA, jd.BodyB, out stiffness, out damping);
jd.Stiffness = stiffness;
jd.Damping = damping;
_joints[4] = JointFactory.CreateFromDef(World, jd);
jd.BodyA = _bodies[1];
jd.BodyB = _bodies[2];
jd.LocalAnchorA = new Vector2(0.0f, 0.5f);
jd.LocalAnchorB = new Vector2(0.0f, -0.5f);
p1 = jd.BodyA.GetWorldPoint(jd.LocalAnchorA);
p2 = jd.BodyB.GetWorldPoint(jd.LocalAnchorB);
d = p2 - p1;
jd.Length = d.Length();
JointHelper.LinearStiffness(frequencyHz, dampingRatio, jd.BodyA, jd.BodyB, out stiffness, out damping);
jd.Stiffness = stiffness;
jd.Damping = damping;
_joints[5] = JointFactory.CreateFromDef(World, jd);
jd.BodyA = _bodies[2];
jd.BodyB = _bodies[3];
jd.LocalAnchorA = new Vector2(-0.5f, 0.0f);
jd.LocalAnchorB = new Vector2(0.5f, 0.0f);
p1 = jd.BodyA.GetWorldPoint(jd.LocalAnchorA);
p2 = jd.BodyB.GetWorldPoint(jd.LocalAnchorB);
d = p2 - p1;
jd.Length = d.Length();
JointHelper.LinearStiffness(frequencyHz, dampingRatio, jd.BodyA, jd.BodyB, out stiffness, out damping);
jd.Stiffness = stiffness;
jd.Damping = damping;
_joints[6] = JointFactory.CreateFromDef(World, jd);
jd.BodyA = _bodies[3];
jd.BodyB = _bodies[0];
jd.LocalAnchorA = new Vector2(0.0f, -0.5f);
jd.LocalAnchorB = new Vector2(0.0f, 0.5f);
p1 = jd.BodyA.GetWorldPoint(jd.LocalAnchorA);
p2 = jd.BodyB.GetWorldPoint(jd.LocalAnchorB);
d = p2 - p1;
jd.Length = d.Length();
JointHelper.LinearStiffness(frequencyHz, dampingRatio, jd.BodyA, jd.BodyB, out stiffness, out damping);
jd.Stiffness = stiffness;
jd.Damping = damping;
_joints[7] = JointFactory.CreateFromDef(World, jd);
}
}
public override void LoadContent()
{
base.LoadContent();
World.Gravity = new Vector2(0f, 10f);
HasCursor = false;
EnableCameraControl = true;
_hzFront = 8.5f;
_hzBack = 5.0f;
_zeta = 0.85f;
_maxSpeed = 50.0f;
// terrain
_ground = BodyFactory.CreateBody(World);
{
Vertices terrain = new Vertices();
terrain.Add(new Vector2(-20f, -5f));
terrain.Add(new Vector2(-20f, 0f));
terrain.Add(new Vector2(20f, 0f));
terrain.Add(new Vector2(25f, -0.25f));
terrain.Add(new Vector2(30f, -1f));
terrain.Add(new Vector2(35f, -4f));
terrain.Add(new Vector2(40f, 0f));
terrain.Add(new Vector2(45f, 0f));
terrain.Add(new Vector2(50f, 1f));
terrain.Add(new Vector2(55f, 2f));
terrain.Add(new Vector2(60f, 2f));
terrain.Add(new Vector2(65f, 1.25f));
terrain.Add(new Vector2(70f, 0f));
terrain.Add(new Vector2(75f, -0.3f));
terrain.Add(new Vector2(80f, -1.5f));
terrain.Add(new Vector2(85f, -3.5f));
terrain.Add(new Vector2(90f, 0f));
terrain.Add(new Vector2(95f, 0.5f));
terrain.Add(new Vector2(100f, 1f));
terrain.Add(new Vector2(105f, 2f));
terrain.Add(new Vector2(110f, 2.5f));
terrain.Add(new Vector2(115f, 1.3f));
terrain.Add(new Vector2(120f, 0f));
terrain.Add(new Vector2(160f, 0f));
terrain.Add(new Vector2(159f, 10f));
terrain.Add(new Vector2(201f, 10f));
terrain.Add(new Vector2(200f, 0f));
terrain.Add(new Vector2(240f, 0f));
terrain.Add(new Vector2(250f, -5f));
terrain.Add(new Vector2(250f, 10f));
terrain.Add(new Vector2(270f, 10f));
terrain.Add(new Vector2(270f, 0));
terrain.Add(new Vector2(310f, 0));
terrain.Add(new Vector2(310f, -5));
for (int i = 0; i < terrain.Count - 1; ++i)
{
FixtureFactory.AttachEdge(terrain[i], terrain[i + 1], _ground);
}
_ground.Friction = 0.6f;
}
// teeter board
{
_board = BodyFactory.CreateBody(World);
_board.BodyType = BodyType.Dynamic;
_board.Position = new Vector2(140.0f, -1.0f);
PolygonShape box = new PolygonShape(1f);
box.Vertices = PolygonUtils.CreateRectangle(10.0f, 0.25f);
_teeter = new Sprite(Managers.TextureManager.TextureFromShape(box, "Stripe", Colors.Gold, Colors.Black, Colors.Black, 1f));
_board.AddFixture(box);
RevoluteJoint teeterAxis = JointFactory.CreateRevoluteJoint(World, _ground, _board, Vector2.Zero);
teeterAxis.LowerLimit = -8.0f * MathConstants.Pi / 180.0f;
teeterAxis.UpperLimit = 8.0f * MathConstants.Pi / 180.0f;
teeterAxis.LimitEnabled = true;
_board.ApplyAngularImpulse(-100.0f);
}
// bridge
{
_bridgeSegments = new List <Body>();
const int segmentCount = 20;
PolygonShape shape = new PolygonShape(1f);
shape.Vertices = PolygonUtils.CreateRectangle(1.0f, 0.125f);
_bridge = new Sprite(Managers.TextureManager.TextureFromShape(shape, Colors.Gold, Colors.Black));
Body prevBody = _ground;
for (int i = 0; i < segmentCount; ++i)
{
Body body = BodyFactory.CreateBody(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(161f + 2f * i, 0.125f);
Fixture fix = body.AddFixture(shape);
fix.Friction = 0.6f;
JointFactory.CreateRevoluteJoint(World, prevBody, body, -Vector2.UnitX);
prevBody = body;
_bridgeSegments.Add(body);
}
JointFactory.CreateRevoluteJoint(World, _ground, prevBody, Vector2.UnitX);
}
// boxes
{
_boxes = new List <Body>();
PolygonShape box = new PolygonShape(1f);
box.Vertices = PolygonUtils.CreateRectangle(0.5f, 0.5f);
_box = new Sprite(Managers.TextureManager.TextureFromShape(box, "Square", Colors.Sky, Colors.Sunset, Colors.Black, 1f));
Body body = BodyFactory.CreateBody(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(220f, -0.5f);
body.AddFixture(box);
_boxes.Add(body);
body = BodyFactory.CreateBody(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(220f, -1.5f);
body.AddFixture(box);
_boxes.Add(body);
body = BodyFactory.CreateBody(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(220f, -2.5f);
body.AddFixture(box);
_boxes.Add(body);
}
// car
{
Vertices vertices = new Vertices(8);
vertices.Add(new Vector2(-2.5f, 0.08f));
vertices.Add(new Vector2(-2.375f, -0.46f));
vertices.Add(new Vector2(-0.58f, -0.92f));
vertices.Add(new Vector2(0.46f, -0.92f));
vertices.Add(new Vector2(2.5f, -0.17f));
vertices.Add(new Vector2(2.5f, 0.205f));
vertices.Add(new Vector2(2.3f, 0.33f));
vertices.Add(new Vector2(-2.25f, 0.35f));
PolygonShape chassis = new PolygonShape(vertices, 2f);
_car = BodyFactory.CreateBody(World);
_car.BodyType = BodyType.Dynamic;
_car.Position = new Vector2(0.0f, -1.0f);
_car.AddFixture(chassis);
_wheelBack = BodyFactory.CreateBody(World);
_wheelBack.BodyType = BodyType.Dynamic;
_wheelBack.Position = new Vector2(-1.709f, -0.78f);
Fixture fix = _wheelBack.AddFixture(new CircleShape(0.5f, 0.8f));
fix.Friction = 0.9f;
_wheelFront = BodyFactory.CreateBody(World);
_wheelFront.BodyType = BodyType.Dynamic;
_wheelFront.Position = new Vector2(1.54f, -0.8f);
_wheelFront.AddFixture(new CircleShape(0.5f, 1f));
Vector2 axis = new Vector2(0.0f, -1.2f);
_springBack = new WheelJoint(_car, _wheelBack, _wheelBack.Position, axis, true);
_springBack.MotorSpeed = 0.0f;
_springBack.MaxMotorTorque = 20.0f;
_springBack.MotorEnabled = true;
JointHelper.LinearStiffness(_hzBack, _zeta, _springBack.BodyA, _springBack.BodyB, out float stiffness, out float damping);
_springBack.Stiffness = stiffness;
_springBack.Damping = damping;
World.AddJoint(_springBack);
_springFront = new WheelJoint(_car, _wheelFront, _wheelFront.Position, axis, true);
_springFront.MotorSpeed = 0.0f;
_springFront.MaxMotorTorque = 10.0f;
_springFront.MotorEnabled = false;
JointHelper.LinearStiffness(_hzFront, _zeta, _springFront.BodyA, _springFront.BodyB, out stiffness, out damping);
_springFront.Stiffness = stiffness;
_springFront.Damping = damping;
World.AddJoint(_springFront);
// GFX
_carBody = new Sprite(Managers.TextureManager.GetTexture("Car"), Managers.TextureManager.CalculateOrigin(_car));
_wheel = new Sprite(Managers.TextureManager.GetTexture("Wheel"));
}
Camera.MinRotation = -0.05f;
Camera.MaxRotation = 0.05f;
Camera.TrackingBody = _car;
Camera.EnableTracking = true;
}
private WebTest()
{
World.JointRemoved += JointRemovedFired;
World.BodyRemoved += BodyRemovedFired;
Body ground = BodyFactory.CreateEdge(World, new Vector2(-40, 0), new Vector2(40, 0));
{
_bodies[0] = BodyFactory.CreateRectangle(World, 1f, 1f, 5, new Vector2(-5.0f, 5.0f), bodyType: BodyType.Dynamic);
_bodies[1] = BodyFactory.CreateRectangle(World, 1f, 1f, 5, new Vector2(5.0f, 5.0f), bodyType: BodyType.Dynamic);
_bodies[2] = BodyFactory.CreateRectangle(World, 1f, 1f, 5, new Vector2(5.0f, 15.0f), bodyType: BodyType.Dynamic);
_bodies[3] = BodyFactory.CreateRectangle(World, 1f, 1f, 5, new Vector2(-5.0f, 15.0f), bodyType: BodyType.Dynamic);
Vector2 p1, p2, d;
float frequencyHz = 2.0f;
float dampingRatio = 0.0f;
DistanceJoint dj = new DistanceJoint(ground, _bodies[0], new Vector2(-10.0f, 0.0f), new Vector2(-0.5f, -0.5f));
p1 = dj.BodyA.GetWorldPoint(dj.LocalAnchorA);
p2 = dj.BodyB.GetWorldPoint(dj.LocalAnchorB);
d = p2 - p1;
dj.Length = d.Length();
//Velcro: We only calculate this once as the mass is identical for all bodies
JointHelper.LinearStiffness(frequencyHz, dampingRatio, dj.BodyA, dj.BodyB, out float stiffness, out float damping);
dj.Stiffness = stiffness;
dj.Damping = damping;
_joints[0] = dj;
World.AddJoint(_joints[0]);
DistanceJoint dj1 = new DistanceJoint(ground, _bodies[1], new Vector2(10.0f, 0.0f), new Vector2(0.5f, -0.5f));
dj1.Stiffness = stiffness;
dj1.Damping = damping;
_joints[1] = dj1;
World.AddJoint(_joints[1]);
DistanceJoint dj2 = new DistanceJoint(ground, _bodies[2], new Vector2(10.0f, 20.0f), new Vector2(0.5f, 0.5f));
dj2.Stiffness = stiffness;
dj2.Damping = damping;
_joints[2] = dj2;
World.AddJoint(_joints[2]);
DistanceJoint dj3 = new DistanceJoint(ground, _bodies[3], new Vector2(-10.0f, 20.0f), new Vector2(-0.5f, 0.5f));
dj3.Stiffness = stiffness;
dj3.Damping = damping;
_joints[3] = dj3;
World.AddJoint(_joints[3]);
DistanceJoint dj4 = new DistanceJoint(_bodies[0], _bodies[1], new Vector2(0.5f, 0.0f), new Vector2(-0.5f, 0.0f));
dj4.Stiffness = stiffness;
dj4.Damping = damping;
_joints[4] = dj4;
World.AddJoint(_joints[4]);
DistanceJoint dj5 = new DistanceJoint(_bodies[1], _bodies[2], new Vector2(0.0f, 0.5f), new Vector2(0.0f, -0.5f));
dj5.Stiffness = stiffness;
dj5.Damping = damping;
_joints[5] = dj5;
World.AddJoint(_joints[5]);
DistanceJoint dj6 = new DistanceJoint(_bodies[2], _bodies[3], new Vector2(-0.5f, 0.0f), new Vector2(0.5f, 0.0f));
dj6.Stiffness = stiffness;
dj6.Damping = damping;
_joints[6] = dj6;
World.AddJoint(_joints[6]);
DistanceJoint dj7 = new DistanceJoint(_bodies[3], _bodies[0], new Vector2(0.0f, -0.5f), new Vector2(0.0f, 0.5f));
dj7.Stiffness = stiffness;
dj7.Damping = damping;
_joints[7] = dj7;
World.AddJoint(_joints[7]);
}
}
private void CreateLeg(float s, Vector2 wheelAnchor)
{
Vector2 p1 = new Vector2(5.4f * s, -6.1f);
Vector2 p2 = new Vector2(7.2f * s, -1.2f);
Vector2 p3 = new Vector2(4.3f * s, -1.9f);
Vector2 p4 = new Vector2(3.1f * s, 0.8f);
Vector2 p5 = new Vector2(6.0f * s, 1.5f);
Vector2 p6 = new Vector2(2.5f * s, 3.7f);
PolygonShape poly1 = new PolygonShape(1);
PolygonShape poly2 = new PolygonShape(1);
Vertices vertices = new Vertices(3);
if (s > 0.0f)
{
vertices.Add(p1);
vertices.Add(p2);
vertices.Add(p3);
poly1.Vertices = vertices;
vertices[0] = Vector2.Zero;
vertices[1] = p5 - p4;
vertices[2] = p6 - p4;
poly2.Vertices = vertices;
}
else
{
vertices.Add(p1);
vertices.Add(p3);
vertices.Add(p2);
poly1.Vertices = vertices;
vertices[0] = Vector2.Zero;
vertices[1] = p6 - p4;
vertices[2] = p5 - p4;
poly2.Vertices = vertices;
}
Body body1 = BodyFactory.CreateBody(World);
body1.BodyType = BodyType.Dynamic;
body1.Position = _offset;
body1.AngularDamping = 10.0f;
Body body2 = BodyFactory.CreateBody(World);
body2.BodyType = BodyType.Dynamic;
body2.Position = p4 + _offset;
body2.AngularDamping = 10.0f;
Fixture f1 = body1.CreateFixture(poly1);
f1.CollisionGroup = -1;
Fixture f2 = body2.CreateFixture(poly2);
f2.CollisionGroup = -1;
// 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.
float dampingRatio = 0.5f;
float frequencyHz = 10.0f;
DistanceJoint djd = new DistanceJoint(body1, body2, p2 + _offset, p5 + _offset, true);
JointHelper.LinearStiffness(frequencyHz, dampingRatio, djd.BodyA, djd.BodyB, out var stiffness, out var damping);
djd.Damping = damping;
djd.Stiffness = stiffness;
World.AddJoint(djd);
DistanceJoint djd2 = new DistanceJoint(body1, body2, p3 + _offset, p4 + _offset, true);
djd2.Damping = damping;
djd2.Stiffness = stiffness;
World.AddJoint(djd2);
DistanceJoint djd3 = new DistanceJoint(body1, _wheel, p3 + _offset, wheelAnchor + _offset, true);
djd3.Damping = damping;
djd3.Stiffness = stiffness;
World.AddJoint(djd3);
DistanceJoint djd4 = new DistanceJoint(body2, _wheel, p6 + _offset, wheelAnchor + _offset, true);
djd4.Damping = damping;
djd4.Stiffness = stiffness;
World.AddJoint(djd4);
RevoluteJoint rjd = new RevoluteJoint(body2, _chassis, p4 + _offset, true);
World.AddJoint(rjd);
}
private void Start()
{
_lidJointHelper = mainLid.GetComponent <JointHelper>();
_taskLogic = GetComponent <TaskLogic>();
_particle = GetComponentInChildren <ParticleSystem>();
}
private void CreateLeg(float s, Vector2 wheelAnchor)
{
Vector2 p1 = new Vector2(5.4f * s, -6.1f);
Vector2 p2 = new Vector2(7.2f * s, -1.2f);
Vector2 p3 = new Vector2(4.3f * s, -1.9f);
Vector2 p4 = new Vector2(3.1f * s, 0.8f);
Vector2 p5 = new Vector2(6.0f * s, 1.5f);
Vector2 p6 = new Vector2(2.5f * s, 3.7f);
FixtureDef fd1 = new FixtureDef(), fd2 = new FixtureDef();
fd1.Filter.Group = -1;
fd2.Filter.Group = -1;
PolygonShape poly1 = new PolygonShape(1.0f), poly2 = new PolygonShape(1.0f);
if (s > 0.0f)
{
Vertices vertices = new Vertices(3);
vertices.Add(p1);
vertices.Add(p2);
vertices.Add(p3);
poly1.Vertices = vertices;
vertices[0] = Vector2.Zero;
vertices[1] = p5 - p4;
vertices[2] = p6 - p4;
poly2.Vertices = vertices;
}
else
{
Vertices vertices = new Vertices(3);
vertices.Add(p1);
vertices.Add(p3);
vertices.Add(p2);
poly1.Vertices = vertices;
vertices[0] = Vector2.Zero;
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.Type = BodyType.Dynamic;
bd2.Type = BodyType.Dynamic;
bd1.Position = _offset;
bd2.Position = p4 + _offset;
bd1.AngularDamping = 10.0f;
bd2.AngularDamping = 10.0f;
Body body1 = BodyFactory.CreateFromDef(World, bd1);
Body body2 = BodyFactory.CreateFromDef(World, bd2);
body1.AddFixture(fd1);
body2.AddFixture(fd2);
{
DistanceJointDef jd = 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.
float dampingRatio = 0.5f;
float frequencyHz = 10.0f;
jd.Initialize(body1, body2, p2 + _offset, p5 + _offset);
JointHelper.LinearStiffness(frequencyHz, dampingRatio, jd.BodyA, jd.BodyB, out float stiffness, out float damping);
jd.Stiffness = stiffness;
jd.Damping = damping;
JointFactory.CreateFromDef(World, jd);
jd.Initialize(body1, body2, p3 + _offset, p4 + _offset);
JointHelper.LinearStiffness(frequencyHz, dampingRatio, jd.BodyA, jd.BodyB, out stiffness, out damping);
jd.Stiffness = stiffness;
jd.Damping = damping;
JointFactory.CreateFromDef(World, jd);
jd.Initialize(body1, _wheel, p3 + _offset, wheelAnchor + _offset);
JointHelper.LinearStiffness(frequencyHz, dampingRatio, jd.BodyA, jd.BodyB, out stiffness, out damping);
jd.Stiffness = stiffness;
jd.Damping = damping;
JointFactory.CreateFromDef(World, jd);
jd.Initialize(body2, _wheel, p6 + _offset, wheelAnchor + _offset);
JointHelper.LinearStiffness(frequencyHz, dampingRatio, jd.BodyA, jd.BodyB, out stiffness, out damping);
jd.Stiffness = stiffness;
jd.Damping = damping;
JointFactory.CreateFromDef(World, jd);
}
{
RevoluteJointDef jd = new RevoluteJointDef();
jd.Initialize(body2, _chassis, p4 + _offset);
JointFactory.CreateFromDef(World, jd);
}
}
public Ragdoll(World world, Vector2 position)
{
// Physics
// Head
_head = BodyFactory.CreateCircle(world, 0.75f, 10f);
_head.BodyType = BodyType.Dynamic;
_head.AngularDamping = LimbAngularDamping;
_head.Mass = 2f;
_head.Position = position;
// Torso
Body = BodyFactory.CreateCapsule(world, 0.5f, 0.75f, LegDensity);
Body.BodyType = BodyType.Dynamic;
Body.Mass = 1f;
Body.SetTransform(position + new Vector2(0f, 1.75f), MathHelper.Pi / 2f);
_middleBody = BodyFactory.CreateCapsule(world, 0.5f, 0.75f, LegDensity);
_middleBody.BodyType = BodyType.Dynamic;
_middleBody.Mass = 1f;
_middleBody.SetTransform(position + new Vector2(0f, 3f), MathHelper.Pi / 2f);
_lowerBody = BodyFactory.CreateCapsule(world, 0.5f, 0.75f, LegDensity);
_lowerBody.BodyType = BodyType.Dynamic;
_lowerBody.Mass = 1f;
_lowerBody.SetTransform(position + new Vector2(0f, 4.25f), MathHelper.Pi / 2f);
// Left Arm
_lowerLeftArm = BodyFactory.CreateCapsule(world, 1f, 0.45f, ArmDensity);
_lowerLeftArm.BodyType = BodyType.Dynamic;
_lowerLeftArm.AngularDamping = LimbAngularDamping;
_lowerLeftArm.Mass = 2f;
_lowerLeftArm.Rotation = 1.4f;
_lowerLeftArm.Position = position + new Vector2(-4f, 2.2f);
_upperLeftArm = BodyFactory.CreateCapsule(world, 1f, 0.45f, ArmDensity);
_upperLeftArm.BodyType = BodyType.Dynamic;
_upperLeftArm.AngularDamping = LimbAngularDamping;
_upperLeftArm.Mass = 2f;
_upperLeftArm.Rotation = 1.4f;
_upperLeftArm.Position = position + new Vector2(-2f, 1.8f);
// Right Arm
_lowerRightArm = BodyFactory.CreateCapsule(world, 1f, 0.45f, ArmDensity);
_lowerRightArm.BodyType = BodyType.Dynamic;
_lowerRightArm.AngularDamping = LimbAngularDamping;
_lowerRightArm.Mass = 2f;
_lowerRightArm.Rotation = -1.4f;
_lowerRightArm.Position = position + new Vector2(4f, 2.2f);
_upperRightArm = BodyFactory.CreateCapsule(world, 1f, 0.45f, ArmDensity);
_upperRightArm.BodyType = BodyType.Dynamic;
_upperRightArm.AngularDamping = LimbAngularDamping;
_upperRightArm.Mass = 2f;
_upperRightArm.Rotation = -1.4f;
_upperRightArm.Position = position + new Vector2(2f, 1.8f);
// Left Leg
_lowerLeftLeg = BodyFactory.CreateCapsule(world, 1f, 0.5f, LegDensity);
_lowerLeftLeg.BodyType = BodyType.Dynamic;
_lowerLeftLeg.AngularDamping = LimbAngularDamping;
_lowerLeftLeg.Mass = 2f;
_lowerLeftLeg.Position = position + new Vector2(-0.6f, 8f);
_upperLeftLeg = BodyFactory.CreateCapsule(world, 1f, 0.5f, LegDensity);
_upperLeftLeg.BodyType = BodyType.Dynamic;
_upperLeftLeg.AngularDamping = LimbAngularDamping;
_upperLeftLeg.Mass = 2f;
_upperLeftLeg.Position = position + new Vector2(-0.6f, 6f);
// Right Leg
_lowerRightLeg = BodyFactory.CreateCapsule(world, 1f, 0.5f, LegDensity);
_lowerRightLeg.BodyType = BodyType.Dynamic;
_lowerRightLeg.AngularDamping = LimbAngularDamping;
_lowerRightLeg.Mass = 2f;
_lowerRightLeg.Position = position + new Vector2(0.6f, 8f);
_upperRightLeg = BodyFactory.CreateCapsule(world, 1f, 0.5f, LegDensity);
_upperRightLeg.BodyType = BodyType.Dynamic;
_upperRightLeg.AngularDamping = LimbAngularDamping;
_upperRightLeg.Mass = 2f;
_upperRightLeg.Position = position + new Vector2(0.6f, 6f);
// head -> upper body
DistanceJoint jointHeadBody = new DistanceJoint(_head, Body, new Vector2(0f, 1f), new Vector2(-0.75f, 0f));
JointHelper.LinearStiffness(Frequency, DampingRatio, jointHeadBody.BodyA, jointHeadBody.BodyB, out var stiffness, out var damping);
jointHeadBody.CollideConnected = true;
jointHeadBody.Damping = damping;
jointHeadBody.Stiffness = stiffness;
jointHeadBody.Length = 0.025f;
world.AddJoint(jointHeadBody);
// lowerLeftArm -> upperLeftArm
DistanceJoint jointLeftArm = new DistanceJoint(_lowerLeftArm, _upperLeftArm, new Vector2(0f, -1f), new Vector2(0f, 1f));
JointHelper.LinearStiffness(Frequency, DampingRatio, jointLeftArm.BodyA, jointLeftArm.BodyB, out stiffness, out damping);
jointLeftArm.CollideConnected = true;
jointLeftArm.Damping = damping;
jointLeftArm.Stiffness = stiffness;
jointLeftArm.Length = 0.02f;
world.AddJoint(jointLeftArm);
// upperLeftArm -> upper body
DistanceJoint jointLeftArmBody = new DistanceJoint(_upperLeftArm, Body, new Vector2(0f, -1f), new Vector2(-0.15f, 1f));
JointHelper.LinearStiffness(Frequency, DampingRatio, jointLeftArmBody.BodyA, jointLeftArmBody.BodyB, out stiffness, out damping);
jointLeftArmBody.Damping = damping;
jointLeftArmBody.Stiffness = stiffness;
jointLeftArmBody.Length = 0.02f;
world.AddJoint(jointLeftArmBody);
// lowerRightArm -> upperRightArm
DistanceJoint jointRightArm = new DistanceJoint(_lowerRightArm, _upperRightArm, new Vector2(0f, -1f), new Vector2(0f, 1f));
JointHelper.LinearStiffness(Frequency, DampingRatio, jointRightArm.BodyA, jointRightArm.BodyB, out stiffness, out damping);
jointRightArm.CollideConnected = true;
jointRightArm.Damping = damping;
jointRightArm.Stiffness = stiffness;
jointRightArm.Length = 0.02f;
world.AddJoint(jointRightArm);
// upperRightArm -> upper body
DistanceJoint jointRightArmBody = new DistanceJoint(_upperRightArm, Body, new Vector2(0f, -1f), new Vector2(-0.15f, -1f));
JointHelper.LinearStiffness(Frequency, DampingRatio, jointRightArmBody.BodyA, jointRightArmBody.BodyB, out stiffness, out damping);
jointRightArmBody.Damping = damping;
jointRightArmBody.Stiffness = stiffness;
jointRightArmBody.Length = 0.02f;
world.AddJoint(jointRightArmBody);
// lowerLeftLeg -> upperLeftLeg
DistanceJoint jointLeftLeg = new DistanceJoint(_lowerLeftLeg, _upperLeftLeg, new Vector2(0f, -1.1f), new Vector2(0f, 1f));
JointHelper.LinearStiffness(Frequency, DampingRatio, jointLeftLeg.BodyA, jointLeftLeg.BodyB, out stiffness, out damping);
jointLeftLeg.CollideConnected = true;
jointLeftLeg.Damping = damping;
jointLeftLeg.Stiffness = stiffness;
jointLeftLeg.Length = 0.05f;
world.AddJoint(jointLeftLeg);
// upperLeftLeg -> lower body
DistanceJoint jointLeftLegBody = new DistanceJoint(_upperLeftLeg, _lowerBody, new Vector2(0f, -1.1f), new Vector2(0.7f, 0.8f));
JointHelper.LinearStiffness(Frequency, DampingRatio, jointLeftLegBody.BodyA, jointLeftLegBody.BodyB, out stiffness, out damping);
jointLeftLegBody.CollideConnected = true;
jointLeftLegBody.Damping = damping;
jointLeftLegBody.Stiffness = stiffness;
jointLeftLegBody.Length = 0.02f;
world.AddJoint(jointLeftLegBody);
// lowerRightleg -> upperRightleg
DistanceJoint jointRightLeg = new DistanceJoint(_lowerRightLeg, _upperRightLeg, new Vector2(0f, -1.1f), new Vector2(0f, 1f));
JointHelper.LinearStiffness(Frequency, DampingRatio, jointRightLeg.BodyA, jointRightLeg.BodyB, out stiffness, out damping);
jointRightLeg.CollideConnected = true;
jointRightLeg.Damping = damping;
jointRightLeg.Stiffness = stiffness;
jointRightLeg.Length = 0.05f;
world.AddJoint(jointRightLeg);
// upperRightleg -> lower body
DistanceJoint jointRightLegBody = new DistanceJoint(_upperRightLeg, _lowerBody, new Vector2(0f, -1.1f), new Vector2(0.7f, -0.8f));
JointHelper.LinearStiffness(Frequency, DampingRatio, jointRightLegBody.BodyA, jointRightLegBody.BodyB, out stiffness, out damping);
jointRightLegBody.CollideConnected = true;
jointRightLegBody.Damping = damping;
jointRightLegBody.Stiffness = stiffness;
jointRightLegBody.Length = 0.02f;
world.AddJoint(jointRightLegBody);
// upper body -> middle body
RevoluteJoint jointUpperTorso = new RevoluteJoint(Body, _middleBody, Body.Position + new Vector2(0f, 0.625f), true);
jointUpperTorso.LimitEnabled = true;
jointUpperTorso.SetLimits(-MathHelper.Pi / 16f, MathHelper.Pi / 16f);
world.AddJoint(jointUpperTorso);
// middle body -> lower body
RevoluteJoint jointLowerTorso = new RevoluteJoint(_middleBody, _lowerBody, _middleBody.Position + new Vector2(0f, 0.625f), true);
jointLowerTorso.LimitEnabled = true;
jointLowerTorso.SetLimits(-MathHelper.Pi / 8f, MathHelper.Pi / 8f);
world.AddJoint(jointLowerTorso);
// GFX
_face = new Sprite(ContentWrapper.CircleTexture(0.75f, "Square", ContentWrapper.Gold, ContentWrapper.Orange, ContentWrapper.Grey, 1f));
_torso = new Sprite(ContentWrapper.PolygonTexture(PolygonUtils.CreateRoundedRectangle(1.5f, 2f, 0.75f, 0.75f, 2), "Stripe", ContentWrapper.Gold, ContentWrapper.Orange, ContentWrapper.Black, 2.0f));
_upperLimb = new Sprite(ContentWrapper.PolygonTexture(PolygonUtils.CreateCapsule(1.9f, 0.45f, 16), "Square", ContentWrapper.Gold, ContentWrapper.Orange, ContentWrapper.Black, 1f));
_lowerLimb = new Sprite(ContentWrapper.PolygonTexture(PolygonUtils.CreateCapsule(2f, 0.5f, 16), "Square", ContentWrapper.Gold, ContentWrapper.Orange, ContentWrapper.Black, 1f));
}
private void CreateLeg(World world, float direction, Vector2 wheelAnchor, int index)
{
Vector2[] points =
{
new Vector2(5.4f * direction, 6.1f),
new Vector2(7.2f * direction, 1.2f),
new Vector2(4.3f * direction, 1.9f),
new Vector2(3.1f * direction, -0.8f),
new Vector2(6.0f * direction, -1.5f),
new Vector2(2.5f * direction, -3.7f)
};
PolygonShape legPolygon = new PolygonShape(1f);
PolygonShape shoulderPolygon = new PolygonShape(1f);
if (direction < 0f)
{
legPolygon.Vertices = new Vertices(new[] { points[0], points[1], points[2] });
shoulderPolygon.Vertices = new Vertices(new[] { Vector2.Zero, points[4] - points[3], points[5] - points[3] });
}
if (direction > 0f)
{
legPolygon.Vertices = new Vertices(new[] { points[0], points[2], points[1] });
shoulderPolygon.Vertices = new Vertices(new[] { Vector2.Zero, points[5] - points[3], points[4] - points[3] });
}
Body leg = BodyFactory.CreateBody(world);
leg.BodyType = BodyType.Dynamic;
leg.Position = _position;
leg.AngularDamping = 10f;
if (direction < 0f)
{
_leftLegs[index] = leg;
}
if (direction > 0f)
{
_rightLegs[index] = leg;
}
Body shoulder = BodyFactory.CreateBody(world);
shoulder.BodyType = BodyType.Dynamic;
shoulder.Position = points[3] + _position;
shoulder.AngularDamping = 10f;
if (direction < 0f)
{
_leftShoulders[index] = shoulder;
}
if (direction > 0f)
{
_rightShoulders[index] = shoulder;
}
Fixture legFixture = leg.CreateFixture(legPolygon);
legFixture.CollisionGroup = -1;
Fixture shoulderFixture = shoulder.CreateFixture(shoulderPolygon);
shoulderFixture.CollisionGroup = -1;
float dampingRatio = 0.5f;
float frequencyHz = 10.0f;
// Using a soft distancejoint can reduce some jitter.
// It also makes the structure seem a bit more fluid by
// acting like a suspension system.
DistanceJoint djd = new DistanceJoint(leg, shoulder, points[1] + _position, points[4] + _position, true);
JointHelper.LinearStiffness(frequencyHz, dampingRatio, djd.BodyA, djd.BodyB, out float stiffness, out float damping);
djd.Damping = damping;
djd.Stiffness = stiffness;
world.AddJoint(djd);
_walkerJoints.Add(djd);
DistanceJoint djd2 = new DistanceJoint(leg, shoulder, points[2] + _position, points[3] + _position, true);
djd2.Damping = damping;
djd2.Stiffness = stiffness;
world.AddJoint(djd2);
_walkerJoints.Add(djd2);
DistanceJoint djd3 = new DistanceJoint(leg, _wheel, points[2] + _position, wheelAnchor + _position, true);
djd3.Damping = damping;
djd3.Stiffness = stiffness;
world.AddJoint(djd3);
_walkerJoints.Add(djd3);
DistanceJoint djd4 = new DistanceJoint(shoulder, _wheel, points[5] + _position, wheelAnchor + _position, true);
djd4.Damping = damping;
djd4.Stiffness = stiffness;
world.AddJoint(djd4);
_walkerJoints.Add(djd4);
RevoluteJoint rjd = new RevoluteJoint(shoulder, _chassis, points[3] + _position, true);
world.AddJoint(rjd);
}
private CantileverTest()
{
Body ground = BodyFactory.CreateEdge(World, new Vector2(-40, 0), new Vector2(40, 0));
{
PolygonShape shape = new PolygonShape(20);
shape.SetAsBox(0.5f, 0.125f);
FixtureDef fd = new FixtureDef();
fd.Shape = shape;
WeldJointDef jd = new WeldJointDef();
Body prevBody = ground;
for (int i = 0; i < _count; ++i)
{
BodyDef bd = new BodyDef();
bd.Type = BodyType.Dynamic;
bd.Position = new Vector2(-14.5f + 1.0f * i, 5.0f);
Body body = BodyFactory.CreateFromDef(World, bd);
body.AddFixture(fd);
Vector2 anchor = new Vector2(-15.0f + 1.0f * i, 5.0f);
jd.Initialize(prevBody, body, anchor);
JointFactory.CreateFromDef(World, jd);
prevBody = body;
}
}
{
PolygonShape shape = new PolygonShape(20.0f);
shape.SetAsBox(1.0f, 0.125f);
FixtureDef fd = new FixtureDef();
fd.Shape = shape;
WeldJointDef jd = new WeldJointDef();
float frequencyHz = 5.0f;
float dampingRatio = 0.7f;
Body prevBody = ground;
for (int i = 0; i < 3; ++i)
{
BodyDef bd = new BodyDef();
bd.Type = BodyType.Dynamic;
bd.Position = new Vector2(-14.0f + 2.0f * i, 15.0f);
Body body = BodyFactory.CreateFromDef(World, bd);
body.AddFixture(fd);
Vector2 anchor = new Vector2(-15.0f + 2.0f * i, 15.0f);
jd.Initialize(prevBody, body, anchor);
JointHelper.AngularStiffness(frequencyHz, dampingRatio, jd.BodyA, jd.BodyB, out float stiffness, out float damping);
jd.Stiffness = stiffness;
jd.Damping = damping;
JointFactory.CreateFromDef(World, jd);
prevBody = body;
}
}
{
PolygonShape shape = new PolygonShape(20.0f);
shape.SetAsBox(0.5f, 0.125f);
FixtureDef fd = new FixtureDef();
fd.Shape = shape;
WeldJointDef jd = new WeldJointDef();
Body prevBody = ground;
for (int i = 0; i < _count; ++i)
{
BodyDef bd = new BodyDef();
bd.Type = BodyType.Dynamic;
bd.Position = new Vector2(-4.5f + 1.0f * i, 5.0f);
Body body = BodyFactory.CreateFromDef(World, bd);
body.AddFixture(fd);
if (i > 0)
{
Vector2 anchor = new Vector2(-5.0f + 1.0f * i, 5.0f);
jd.Initialize(prevBody, body, anchor);
JointFactory.CreateFromDef(World, jd);
}
prevBody = body;
}
}
{
PolygonShape shape = new PolygonShape(20.0f);
shape.SetAsBox(0.5f, 0.125f);
FixtureDef fd = new FixtureDef();
fd.Shape = shape;
WeldJointDef jd = new WeldJointDef();
float frequencyHz = 8.0f;
float dampingRatio = 0.7f;
Body prevBody = ground;
for (int i = 0; i < _count; ++i)
{
BodyDef bd = new BodyDef();
bd.Type = BodyType.Dynamic;
bd.Position = new Vector2(5.5f + 1.0f * i, 10.0f);
Body body = BodyFactory.CreateFromDef(World, bd);
body.AddFixture(fd);
if (i > 0)
{
Vector2 anchor = new Vector2(5.0f + 1.0f * i, 10.0f);
jd.Initialize(prevBody, body, anchor);
JointHelper.AngularStiffness(frequencyHz, dampingRatio, jd.BodyA, jd.BodyB, out float stiffness, out float damping);
jd.Stiffness = stiffness;
jd.Damping = damping;
JointFactory.CreateFromDef(World, jd);
}
prevBody = body;
}
}
for (int i = 0; i < 2; ++i)
{
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));
PolygonShape shape = new PolygonShape(vertices, 1.0f);
FixtureDef fd = new FixtureDef();
fd.Shape = shape;
BodyDef bd = new BodyDef();
bd.Type = BodyType.Dynamic;
bd.Position = new Vector2(-8.0f + 8.0f * i, 12.0f);
Body body = BodyFactory.CreateFromDef(World, bd);
body.AddFixture(fd);
}
for (int i = 0; i < 2; ++i)
{
CircleShape shape = new CircleShape(0.5f, 1.0f);
FixtureDef fd = new FixtureDef();
fd.Shape = shape;
BodyDef bd = new BodyDef();
bd.Type = BodyType.Dynamic;
bd.Position = new Vector2(-6.0f + 6.0f * i, 10.0f);
Body body = BodyFactory.CreateFromDef(World, bd);
body.AddFixture(fd);
}
}
private CarTest()
{
_hz = 4.0f;
_zeta = 0.7f;
_speed = 50.0f;
Body ground = BodyFactory.CreateEdge(World, new Vector2(-20.0f, 0.0f), new Vector2(20.0f, 0.0f));
{
float[] hs = { 0.25f, 1.0f, 4.0f, 0.0f, 0.0f, -1.0f, -2.0f, -2.0f, -1.25f, 0.0f };
float x = 20.0f, y1 = 0.0f;
const float dx = 5.0f;
for (int i = 0; i < 10; ++i)
{
float y2 = hs[i];
FixtureFactory.AttachEdge(new Vector2(x, y1), new Vector2(x + dx, y2), ground);
y1 = y2;
x += dx;
}
for (int i = 0; i < 10; ++i)
{
float y2 = hs[i];
FixtureFactory.AttachEdge(new Vector2(x, y1), new Vector2(x + dx, y2), ground);
y1 = y2;
x += dx;
}
FixtureFactory.AttachEdge(new Vector2(x, 0.0f), new Vector2(x + 40.0f, 0.0f), ground);
x += 80.0f;
FixtureFactory.AttachEdge(new Vector2(x, 0.0f), new Vector2(x + 40.0f, 0.0f), ground);
x += 40.0f;
FixtureFactory.AttachEdge(new Vector2(x, 0.0f), new Vector2(x + 10.0f, 5.0f), ground);
x += 20.0f;
FixtureFactory.AttachEdge(new Vector2(x, 0.0f), new Vector2(x + 40.0f, 0.0f), ground);
x += 40.0f;
FixtureFactory.AttachEdge(new Vector2(x, 0.0f), new Vector2(x, 20.0f), ground);
ground.Friction = 0.6f;
}
// Teeter
{
Body body = BodyFactory.CreateBody(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(140.0f, 1.0f);
PolygonShape box = new PolygonShape(1);
box.Vertices = PolygonUtils.CreateRectangle(10.0f, 0.25f);
body.CreateFixture(box);
RevoluteJoint jd = JointFactory.CreateRevoluteJoint(World, ground, body, Vector2.Zero);
jd.LowerLimit = -8.0f * MathConstants.Pi / 180.0f;
jd.UpperLimit = 8.0f * MathConstants.Pi / 180.0f;
jd.LimitEnabled = true;
body.ApplyAngularImpulse(100.0f);
}
//Bridge
{
const int N = 20;
PolygonShape shape = new PolygonShape(1);
shape.Vertices = PolygonUtils.CreateRectangle(1.0f, 0.125f);
Body prevBody = ground;
for (int i = 0; i < N; ++i)
{
Body body = BodyFactory.CreateBody(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(161.0f + 2.0f * i, -0.125f);
Fixture fix = body.CreateFixture(shape);
fix.Friction = 0.6f;
Vector2 anchor = new Vector2(-1, 0);
JointFactory.CreateRevoluteJoint(World, prevBody, body, anchor);
prevBody = body;
}
Vector2 anchor2 = new Vector2(1.0f, 0);
JointFactory.CreateRevoluteJoint(World, ground, prevBody, anchor2);
}
// Boxes
{
PolygonShape box = new PolygonShape(0.5f);
box.Vertices = PolygonUtils.CreateRectangle(0.5f, 0.5f);
Body body = BodyFactory.CreateBody(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(230.0f, 0.5f);
body.CreateFixture(box);
body = BodyFactory.CreateBody(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(230.0f, 1.5f);
body.CreateFixture(box);
body = BodyFactory.CreateBody(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(230.0f, 2.5f);
body.CreateFixture(box);
body = BodyFactory.CreateBody(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(230.0f, 3.5f);
body.CreateFixture(box);
body = BodyFactory.CreateBody(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(230.0f, 4.5f);
body.CreateFixture(box);
}
// Car
{
Vertices vertices = new Vertices(8);
vertices.Add(new Vector2(-1.5f, -0.5f));
vertices.Add(new Vector2(1.5f, -0.5f));
vertices.Add(new Vector2(1.5f, 0.0f));
vertices.Add(new Vector2(0.0f, 0.9f));
vertices.Add(new Vector2(-1.15f, 0.9f));
vertices.Add(new Vector2(-1.5f, 0.2f));
PolygonShape chassis = new PolygonShape(vertices, 1);
CircleShape circle = new CircleShape(0.4f, 1);
_car = BodyFactory.CreateBody(World);
_car.BodyType = BodyType.Dynamic;
_car.Position = new Vector2(0.0f, 1.0f);
_car.CreateFixture(chassis);
_wheel1 = BodyFactory.CreateBody(World);
_wheel1.BodyType = BodyType.Dynamic;
_wheel1.Position = new Vector2(-1.0f, 0.35f);
_wheel1.CreateFixture(circle);
_wheel1.Friction = 0.9f;
_wheel2 = BodyFactory.CreateBody(World);
_wheel2.BodyType = BodyType.Dynamic;
_wheel2.Position = new Vector2(1.0f, 0.4f);
_wheel2.CreateFixture(circle);
_wheel2.Friction = 0.9f;
Vector2 axis = new Vector2(0.0f, 1.0f);
_spring1 = new WheelJoint(_car, _wheel1, _wheel1.Position, axis, true);
_spring1.MotorSpeed = 0.0f;
_spring1.MaxMotorTorque = 20.0f;
_spring1.MotorEnabled = true;
JointHelper.LinearStiffness(_hz, _zeta, _spring1.BodyA, _spring1.BodyB, out float stiffness, out float damping);
_spring1.Stiffness = stiffness;
_spring1.Damping = damping;
World.AddJoint(_spring1);
_spring2 = new WheelJoint(_car, _wheel2, _wheel2.Position, axis, true);
_spring2.MotorSpeed = 0.0f;
_spring2.MaxMotorTorque = 10.0f;
_spring2.MotorEnabled = false;
JointHelper.LinearStiffness(_hz, _zeta, _spring2.BodyA, _spring1.BodyB, out stiffness, out damping);
_spring2.Stiffness = stiffness;
_spring2.Damping = damping;
World.AddJoint(_spring2);
}
}
public WebOfGoo(World world, Vector2 position, float radius, int rings, int sides)
{
_ringBodys = new List <List <Body> >(rings);
_ringJoints = new List <DistanceJoint>();
for (int i = 1; i < rings; i++)
{
Vertices vertices = PolygonUtils.CreateCircle(i * 2.9f, sides);
vertices.Translate(ref position);
List <Body> bodies = new List <Body>(sides);
//Create the first goo
Body previous = BodyFactory.CreateCircle(world, radius, 0.2f, vertices[0]);
previous.BodyType = BodyType.Dynamic;
bodies.Add(previous);
//Connect the first goo to the next
for (int j = 1; j < vertices.Count; j++)
{
Body current = BodyFactory.CreateCircle(world, radius, 0.2f, vertices[j]);
current.BodyType = BodyType.Dynamic;
DistanceJoint joint = new DistanceJoint(previous, current, Vector2.Zero, Vector2.Zero);
joint.Stiffness = 4.0f;
joint.Damping = 0.5f;
joint.Breakpoint = Breakpoint;
world.AddJoint(joint);
_ringJoints.Add(joint);
previous = current;
bodies.Add(current);
}
//Connect the first and the last goo
DistanceJoint jointClose = new DistanceJoint(bodies[0], bodies[bodies.Count - 1], Vector2.Zero, Vector2.Zero);
JointHelper.LinearStiffness(4.0f, 0.5f, jointClose.BodyA, jointClose.BodyB, out var stiffness, out var damping);
jointClose.Stiffness = stiffness;
jointClose.Damping = damping;
jointClose.Breakpoint = Breakpoint;
world.AddJoint(jointClose);
_ringJoints.Add(jointClose);
_ringBodys.Add(bodies);
}
//Create an outer ring
Vertices frame = PolygonUtils.CreateCircle(rings * 2.9f - 0.9f, sides);
frame.Translate(ref position);
Body anchor = BodyFactory.CreateBody(world, position);
anchor.BodyType = BodyType.Static;
//Attach the outer ring to the anchor
for (int i = 0; i < _ringBodys[rings - 2].Count; i++)
{
DistanceJoint joint = new DistanceJoint(anchor, _ringBodys[rings - 2][i], frame[i], _ringBodys[rings - 2][i].Position, true);
JointHelper.LinearStiffness(8.0f, 0.5f, joint.BodyA, joint.BodyB, out var stiffness, out var damping);
joint.Stiffness = stiffness;
joint.Damping = damping;
joint.Breakpoint = Breakpoint;
world.AddJoint(joint);
_ringJoints.Add(joint);
}
//Interconnect the rings
for (int i = 1; i < _ringBodys.Count; i++)
{
for (int j = 0; j < sides; j++)
{
DistanceJoint joint = new DistanceJoint(_ringBodys[i - 1][j], _ringBodys[i][j], Vector2.Zero, Vector2.Zero);
JointHelper.LinearStiffness(4.0f, 0.5f, joint.BodyA, joint.BodyB, out var stiffness, out var damping);
joint.Stiffness = stiffness;
joint.Damping = damping;
joint.Breakpoint = Breakpoint;
world.AddJoint(joint);
_ringJoints.Add(joint);
}
}
_link = new Sprite(Managers.TextureManager.GetTexture("Link"));
_goo = new Sprite(Managers.TextureManager.GetTexture("Goo"));
}
private SerializationTest()
{
Body ground = BodyFactory.CreateEdge(World, new Vector2(-20, 0), new Vector2(20, 0));
//Friction and distance joint
{
Body bodyA = BodyFactory.CreateCircle(World, 1, 1.5f, new Vector2(10, 25));
bodyA.BodyType = BodyType.Dynamic;
Body bodyB = BodyFactory.CreateRectangle(World, 1, 1, 1, new Vector2(-1, 25));
bodyB.BodyType = BodyType.Dynamic;
FrictionJoint frictionJoint = JointFactory.CreateFrictionJoint(World, bodyB, ground, Vector2.Zero);
frictionJoint.CollideConnected = true;
frictionJoint.MaxForce = 100;
JointFactory.CreateDistanceJoint(World, bodyA, bodyB);
}
//Wheel joint
{
Vertices vertices = new Vertices(6);
vertices.Add(new Vector2(-1.5f, -0.5f));
vertices.Add(new Vector2(1.5f, -0.5f));
vertices.Add(new Vector2(1.5f, 0.0f));
vertices.Add(new Vector2(0.0f, 0.9f));
vertices.Add(new Vector2(-1.15f, 0.9f));
vertices.Add(new Vector2(-1.5f, 0.2f));
Body carBody = BodyFactory.CreatePolygon(World, vertices, 1, new Vector2(0, 1));
carBody.BodyType = BodyType.Dynamic;
Body wheel1 = BodyFactory.CreateCircle(World, 0.4f, 1, new Vector2(-1.0f, 0.35f));
wheel1.BodyType = BodyType.Dynamic;
wheel1.Friction = 0.9f;
Body wheel2 = BodyFactory.CreateCircle(World, 0.4f, 1, new Vector2(1.0f, 0.4f));
wheel2.BodyType = BodyType.Dynamic;
wheel2.Friction = 0.9f;
Vector2 axis = new Vector2(0.0f, 1.0f);
WheelJoint spring1 = JointFactory.CreateWheelJoint(World, carBody, wheel1, axis);
spring1.MotorSpeed = 0.0f;
spring1.MaxMotorTorque = 20.0f;
spring1.MotorEnabled = true;
JointHelper.LinearStiffness(4, 0.8f, spring1.BodyA, spring1.BodyB, out float stiffness, out float damping);
spring1.Stiffness = stiffness;
spring1.Damping = damping;
WheelJoint spring2 = JointFactory.CreateWheelJoint(World, carBody, wheel2, axis);
spring2.MotorSpeed = 0.0f;
spring2.MaxMotorTorque = 10.0f;
spring2.MotorEnabled = false;
spring2.Stiffness = stiffness;
spring2.Damping = damping;
}
//Prismatic joint
{
Body body = BodyFactory.CreateRectangle(World, 2, 2, 5, new Vector2(-10.0f, 10.0f));
body.BodyType = BodyType.Dynamic;
body.Rotation = 0.5f * MathConstants.Pi;
Vector2 axis = new Vector2(2.0f, 1.0f);
axis.Normalize();
PrismaticJoint joint = JointFactory.CreatePrismaticJoint(World, ground, body, Vector2.Zero, axis);
joint.MotorSpeed = 5.0f;
joint.MaxMotorForce = 1000.0f;
joint.MotorEnabled = true;
joint.LowerLimit = -10.0f;
joint.UpperLimit = 20.0f;
joint.LimitEnabled = true;
}
// Pulley joint
{
Body body1 = BodyFactory.CreateRectangle(World, 2, 4, 5, new Vector2(-10.0f, 16.0f));
body1.BodyType = BodyType.Dynamic;
Body body2 = BodyFactory.CreateRectangle(World, 2, 4, 5, new Vector2(10.0f, 16.0f));
body2.BodyType = BodyType.Dynamic;
Vector2 anchor1 = new Vector2(-10.0f, 16.0f + 2.0f);
Vector2 anchor2 = new Vector2(10.0f, 16.0f + 2.0f);
Vector2 worldAnchor1 = new Vector2(-10.0f, 16.0f + 2.0f + 12.0f);
Vector2 worldAnchor2 = new Vector2(10.0f, 16.0f + 2.0f + 12.0f);
JointFactory.CreatePulleyJoint(World, body1, body2, anchor1, anchor2, worldAnchor1, worldAnchor2, 1.5f, true);
}
//Revolute joint
{
Body ball = BodyFactory.CreateCircle(World, 3.0f, 5.0f, new Vector2(5.0f, 30.0f));
ball.BodyType = BodyType.Dynamic;
Body polygonBody = BodyFactory.CreateRectangle(World, 20, 0.4f, 2, new Vector2(10, 10));
polygonBody.BodyType = BodyType.Dynamic;
polygonBody.IsBullet = true;
RevoluteJoint joint = JointFactory.CreateRevoluteJoint(World, ground, polygonBody, new Vector2(10, 0));
joint.LowerLimit = -0.25f * MathConstants.Pi;
joint.UpperLimit = 0.0f * MathConstants.Pi;
joint.LimitEnabled = true;
}
//Weld joint
{
PolygonShape shape = new PolygonShape(PolygonUtils.CreateRectangle(0.5f, 0.125f), 20);
Body prevBody = ground;
for (int i = 0; i < 10; ++i)
{
Body body = BodyFactory.CreateBody(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(-14.5f + 1.0f * i, 5.0f);
body.AddFixture(shape);
Vector2 anchor = new Vector2(0.5f, 0);
if (i == 0)
{
anchor = new Vector2(-15f, 5);
}
JointFactory.CreateWeldJoint(World, prevBody, body, anchor, new Vector2(-0.5f, 0));
prevBody = body;
}
}
//Rope joint
{
LinkFactory.CreateChain(World, new Vector2(-10, 10), new Vector2(-20, 10), 0.1f, 0.5f, 10, 0.1f, true);
}
//Angle joint
{
Body fA = BodyFactory.CreateRectangle(World, 4, 4, 1, new Vector2(-5, 4));
fA.BodyType = BodyType.Dynamic;
fA.Rotation = MathConstants.Pi / 3;
Body fB = BodyFactory.CreateRectangle(World, 4, 4, 1, new Vector2(5, 4));
fB.BodyType = BodyType.Dynamic;
AngleJoint joint = new AngleJoint(fA, fB);
joint.TargetAngle = MathConstants.Pi / 2;
World.AddJoint(joint);
}
//Motor joint
{
Body body = BodyFactory.CreateRectangle(World, 4, 1, 2, new Vector2(0, 35));
body.BodyType = BodyType.Dynamic;
body.Friction = 0.6f;
MotorJoint motorJoint = JointFactory.CreateMotorJoint(World, ground, body);
motorJoint.MaxForce = 1000.0f;
motorJoint.MaxTorque = 1000.0f;
motorJoint.LinearOffset = new Vector2(0, 35);
motorJoint.AngularOffset = MathConstants.Pi / 3f;
}
}
