public void join(int targetID, string type)
{
if (game.game_objects[targetID] is PhysicsObject)
{
PhysicsObject target = (PhysicsObject)game.game_objects[targetID];
switch (type)
{
case "weld":
WeldJointDef def = new WeldJointDef();
def.bodyA = body;
def.bodyB = target.body;
def.localAnchorA = body.GetPosition() - target.body.GetPosition();
def.localAnchorB = target.body.GetPosition() - body.GetPosition();
def.collideConnected = false;
game.world.CreateJoint(def);
break;
case "revolute":
RevoluteJointDef rdef = new RevoluteJointDef();
rdef.Initialize(body, target.body, body.GetWorldCenter());
rdef.collideConnected = false;
game.world.CreateJoint(rdef);
break;
}
}
}
// Use this for initialization
protected override IntPtr Init()
{
WeldJointDef jd = new WeldJointDef(other.body, body.body);
jd.Initialize(other.body, body.body, anchor);
jd.frequencyHz = frequencyHz;
jd.dampingRatio = dampingRatio;
return(API.CreateWeldJoint(B2DWorld.instance.world, jd));
}
/// <summary>
/// Creates a distance joint between two bodies
/// </summary>
/// <param name="b1"></param>
/// <param name="b2"></param>
/// <param name="anchor"></param>
/// <returns></returns>
public WeldJoint joinBodies_Weld(Body b1, Body b2, Vector2 anchor, bool collideCon)
{
WeldJointDef wjd = new WeldJointDef();
wjd.Initialize(b1, b2, anchor);
wjd.collideConnected = collideCon;
WeldJoint wj = physicsWorld.CreateJoint(wjd) as WeldJoint;
return(wj);
}
public WeldJoint(WeldJointDef def)
: base(def)
{
_localAnchorA = def.LocalAnchorA;
_localAnchorB = def.LocalAnchorB;
_referenceAngle = def.ReferenceAngle;
_stiffness = def.Stiffness;
_damping = def.Damping;
_impulse = Vector3.Zero;
}
/// <summary>
/// Creates a new motorcycle and a driver into the given Box2D world.
/// Creates all the parts of the motorcycle and driver and joints them together.
/// </summary>
/// <param name="pBikeSpeed">A pointer to the variable that describes the speed of the
/// motorcycle</param>
/// <param name="pRotationData">RotationData to provide the information of the rotation
/// of the device</param>
/// <param name="pWorld">The Box2D world where the bike is created into</param>
/// <param name="pCamPos">A pointer to the variable that describes the position of the
/// camera</param>
/// <param name="pContent">The used ContentManager instance</param>
/// <param name="pSpriteBatch">The used SpriteBatch instance</param>
public Bike(float [] pBikeSpeed, RotationData pRotationData, World pWorld, float[] pCamPos,
ContentManager pContent)
{
OffTheBike = false;
camPos = pCamPos;
world = pWorld;
content = pContent;
RotationData = pRotationData;
bikeSpeed = pBikeSpeed;
frontWheel = CreateCirclePart("wheel", frontWheelInitPos, 35.0f, 0, 0.1f, 0.9f, 0.2f);
frontFork = CreateBoxPart("susp_lower_long", frontForkInitPos, 20.53f, 21.33f, 0, 0.8f,
1.0f, 0.2f);
rearWheel = CreateCirclePart("rearWheel", rearWheelInitPos, 32.0f, 0, 0.4f, 1.0f,
0.2f);
rearFork = CreateBoxPart("rearFork", rearForkInitPos, 64.0f, 17.0f, rearForkInitRot,
0.5f, 1.0f, 0.2f);
bikeBody = CreateBikeBody(bikeBodyInitPos, bikeBodyInitRot, 0.5f, 1.0f, 0.2f);
RevoluteJointDef motorDef = new RevoluteJointDef();
motorDef.Initialize(rearWheel, rearFork, rearWheel.GetWorldCenter());
motorDef.maxMotorTorque = 2.0f;
motorDef.enableMotor = true;
motor = (RevoluteJoint)world.CreateJoint(motorDef);
RevoluteJointDef rearForkBodyDef = new RevoluteJointDef();
Vector2 anchor = rearFork.GetWorldCenter();
anchor.X += (32.0f / Level.FACTOR);
anchor.Y += (13.5f / Level.FACTOR);
rearForkBodyDef.Initialize(rearFork, bikeBody, anchor);
rearForkBodyDef.bodyA = rearFork;
rearForkBodyDef.bodyB = bikeBody;
rearForkBodyDef.maxMotorTorque = 300.0f;
world.CreateJoint(rearForkBodyDef);
RevoluteJointDef frontWheelJointDef = new RevoluteJointDef();
frontWheelJointDef.Initialize(frontWheel, frontFork, frontWheel.GetWorldCenter());
frontWheelJointDef.maxMotorTorque = 300.0f;
world.CreateJoint(frontWheelJointDef);
DistanceJointDef frontSuspToBikeDef = new DistanceJointDef();
frontSuspToBikeDef.Initialize(bikeBody, frontFork,
frontFork.GetWorldCenter() + new Vector2(0, 0.4f),
frontFork.GetWorldCenter());
frontSuspToBikeDef.frequencyHz = 4.0f;
frontSuspToBikeDef.dampingRatio = 0.1f;
frontSuspToBikeDef.collideConnected = true;
world.CreateJoint(frontSuspToBikeDef);
DistanceJointDef rearForkDistanceDef = new DistanceJointDef();
rearForkDistanceDef.Initialize(bikeBody, rearFork,
rearFork.GetWorldCenter() + new Vector2(0, 0.4f),
rearFork.GetWorldCenter());
rearForkDistanceDef.frequencyHz = 7.0f;
rearForkDistanceDef.dampingRatio = 0.1f;
rearForkDistanceDef.collideConnected = true;
world.CreateJoint(rearForkDistanceDef);
PrismaticJointDef fSuspBikePrismaticDef = new PrismaticJointDef();
fSuspBikePrismaticDef.Initialize(bikeBody, frontFork, bikeBody.GetWorldCenter(),
new Vector2(0, 1));
fSuspBikePrismaticDef.enableLimit = true;
fSuspBikePrismaticDef.lowerTranslation = -0.2f;
fSuspBikePrismaticDef.upperTranslation = 0.2f;
fSuspBikePrismaticDef.collideConnected = true;
world.CreateJoint(fSuspBikePrismaticDef);
humanBody = CreateBoxPart("human", humanBodyInitPos, 17.0f, 64.0f, 0, 0.1f, 1.0f,
0.2f);
head = CreateBoxPart("head", headInitPos, 38.4f, 29.9f, headInitRot, 0.1f, 1.0f,
0.2f);
hand = CreateBoxPart("hand", handInitPos, 34.13f, 8.53f, handInitRot, 0.1f, 1.0f,
0.2f);
arm = CreateBoxPart("arm", armInitPos, 42.67f, 8.53f, armInitRot, 0.1f, 1.0f, 0.2f);
WeldJointDef headToHumanDef = new WeldJointDef();
headToHumanDef.Initialize(head, humanBody, head.GetWorldCenter());
world.CreateJoint(headToHumanDef);
RevoluteJointDef humanToBikeDef = new RevoluteJointDef();
anchor = humanBody.GetWorldCenter();
anchor.Y += (30.0f / Level.FACTOR);
humanToBikeDef.Initialize(humanBody, bikeBody, anchor);
humanToBikeDef.maxMotorTorque = 300.0f;
humanToBike = world.CreateJoint(humanToBikeDef);
RevoluteJointDef humanToArmDef = new RevoluteJointDef();
anchor = arm.GetWorldPoint(new Vector2(-21.33f / Level.FACTOR, 4.26f / Level.FACTOR));
humanToArmDef.Initialize(humanBody, arm, anchor);
humanToArmDef.maxMotorTorque = 300.0f;
world.CreateJoint(humanToArmDef);
RevoluteJointDef armToHandDef = new RevoluteJointDef();
anchor = arm.GetWorldPoint(new Vector2(21.33f / Level.FACTOR, 4.26f / Level.FACTOR));
armToHandDef.Initialize(arm, hand, anchor);
armToHandDef.maxMotorTorque = 300.0f;
world.CreateJoint(armToHandDef);
RevoluteJointDef handToBikeDef = new RevoluteJointDef();
anchor = hand.GetWorldPoint(new Vector2(17.06f / Level.FACTOR, 4.26f / Level.FACTOR));
handToBikeDef.Initialize(hand, bikeBody, anchor);
handToBikeDef.maxMotorTorque = 300.0f;
handToBike = world.CreateJoint(handToBikeDef);
DistanceJointDef armToBikeDef = new DistanceJointDef();
armToBikeDef.Initialize(hand, bikeBody,
hand.GetWorldPoint(new Vector2(-17.00f / Level.FACTOR,
4.26f / Level.FACTOR)),
bikeBody.GetWorldCenter());
armToBikeDef.length = 40.0f / Level.FACTOR;
armToBikeDef.frequencyHz = 10.0f;
armToBikeDef.dampingRatio = 1.0f;
armToBikeDef.collideConnected = true;
armToBike = world.CreateJoint(armToBikeDef);
}
public Cantilever()
{
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = _world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.5f, 0.125f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 20.0f;
WeldJointDef jd = new WeldJointDef();
Body prevBody = ground;
for (int i = 0; i < e_count; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(-14.5f + 1.0f * i, 5.0f);
Body body = _world.CreateBody(bd);
body.CreateFixture(fd);
Vector2 anchor = new Vector2(-15.0f + 1.0f * i, 5.0f);
jd.Initialize(prevBody, body, anchor);
_world.CreateJoint(jd);
prevBody = body;
}
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.5f, 0.125f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 20.0f;
WeldJointDef jd = new WeldJointDef();
Body prevBody = ground;
for (int i = 0; i < e_count; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(-14.5f + 1.0f * i, 15.0f);
bd.inertiaScale = 10.0f;
Body body = _world.CreateBody(bd);
body.CreateFixture(fd);
Vector2 anchor = new Vector2(-15.0f + 1.0f * i, 15.0f);
jd.Initialize(prevBody, body, anchor);
_world.CreateJoint(jd);
prevBody = body;
}
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.5f, 0.125f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 20.0f;
WeldJointDef jd = new WeldJointDef();
Body prevBody = ground;
for (int i = 0; i < e_count; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(-4.5f + 1.0f * i, 5.0f);
Body body = _world.CreateBody(bd);
body.CreateFixture(fd);
if (i > 0)
{
Vector2 anchor = new Vector2(-5.0f + 1.0f * i, 5.0f);
jd.Initialize(prevBody, body, anchor);
_world.CreateJoint(jd);
}
prevBody = body;
}
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.5f, 0.125f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 20.0f;
WeldJointDef jd = new WeldJointDef();
Body prevBody = ground;
for (int i = 0; i < e_count; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(5.5f + 1.0f * i, 10.0f);
bd.inertiaScale = 10.0f;
Body body = _world.CreateBody(bd);
body.CreateFixture(fd);
if (i > 0)
{
Vector2 anchor = new Vector2(5.0f + 1.0f * i, 10.0f);
jd.Initialize(prevBody, body, anchor);
_world.CreateJoint(jd);
}
prevBody = body;
}
}
for (int i = 0; i < 2; ++i)
{
Vector2[] vertices = new Vector2[3];
vertices[0] = new Vector2(-0.5f, 0.0f);
vertices[1] = new Vector2(0.5f, 0.0f);
vertices[2] = new Vector2(0.0f, 1.5f);
PolygonShape shape = new PolygonShape();
shape.Set(vertices, 3);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 1.0f;
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(-8.0f + 8.0f * i, 12.0f);
Body body = _world.CreateBody(bd);
body.CreateFixture(fd);
}
for (int i = 0; i < 2; ++i)
{
CircleShape shape = new CircleShape();
shape._radius = 0.5f;
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 1.0f;
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(-6.0f + 6.0f * i, 10.0f);
Body body = _world.CreateBody(bd);
body.CreateFixture(fd);
}
}
public Cantilever()
{
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = _world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.5f, 0.125f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 20.0f;
WeldJointDef jd = new WeldJointDef();
Body prevBody = ground;
for (int i = 0; i < e_count; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(-14.5f + 1.0f * i, 5.0f);
Body body = _world.CreateBody(bd);
body.CreateFixture(fd);
Vector2 anchor = new Vector2(-15.0f + 1.0f * i, 5.0f);
jd.Initialize(prevBody, body, anchor);
_world.CreateJoint(jd);
prevBody = body;
}
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.5f, 0.125f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 20.0f;
WeldJointDef jd = new WeldJointDef();
Body prevBody = ground;
for (int i = 0; i < e_count; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(-14.5f + 1.0f * i, 15.0f);
bd.inertiaScale = 10.0f;
Body body = _world.CreateBody(bd);
body.CreateFixture(fd);
Vector2 anchor = new Vector2(-15.0f + 1.0f * i, 15.0f);
jd.Initialize(prevBody, body, anchor);
_world.CreateJoint(jd);
prevBody = body;
}
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.5f, 0.125f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 20.0f;
WeldJointDef jd = new WeldJointDef();
Body prevBody = ground;
for (int i = 0; i < e_count; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(-4.5f + 1.0f * i, 5.0f);
Body body = _world.CreateBody(bd);
body.CreateFixture(fd);
if (i > 0)
{
Vector2 anchor = new Vector2(-5.0f + 1.0f * i, 5.0f);
jd.Initialize(prevBody, body, anchor);
_world.CreateJoint(jd);
}
prevBody = body;
}
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.5f, 0.125f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 20.0f;
WeldJointDef jd = new WeldJointDef();
Body prevBody = ground;
for (int i = 0; i < e_count; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(5.5f + 1.0f * i, 10.0f);
bd.inertiaScale = 10.0f;
Body body = _world.CreateBody(bd);
body.CreateFixture(fd);
if (i > 0)
{
Vector2 anchor = new Vector2(5.0f + 1.0f * i, 10.0f);
jd.Initialize(prevBody, body, anchor);
_world.CreateJoint(jd);
}
prevBody = body;
}
}
for (int i = 0; i < 2; ++i)
{
Vector2[] vertices = new Vector2[3];
vertices[0] = new Vector2(-0.5f, 0.0f);
vertices[1] = new Vector2(0.5f, 0.0f);
vertices[2] = new Vector2(0.0f, 1.5f);
PolygonShape shape = new PolygonShape();
shape.Set(vertices, 3);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 1.0f;
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(-8.0f + 8.0f * i, 12.0f);
Body body = _world.CreateBody(bd);
body.CreateFixture(fd);
}
for (int i = 0; i < 2; ++i)
{
CircleShape shape = new CircleShape();
shape._radius = 0.5f;
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 1.0f;
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(-6.0f + 6.0f * i, 10.0f);
Body body = _world.CreateBody(bd);
body.CreateFixture(fd);
}
}
public Cantilever()
{
Body ground;
{
var bd = new BodyDef();
ground = World.CreateBody(bd);
var shape = new EdgeShape();
shape.Set(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
{
var shape = new PolygonShape();
shape.SetAsBox(0.5f, 0.125f);
var fd = new FixtureDef();
fd.Shape = shape;
fd.Density = 20.0f;
var jd = new WeldJointDef();
var prevBody = ground;
for (var i = 0; i < Count; ++i)
{
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position.Set(-14.5f + 1.0f * i, 5.0f);
var body = World.CreateBody(bd);
body.CreateFixture(fd);
var anchor = new Vector2(-15.0f + 1.0f * i, 5.0f);
jd.Initialize(prevBody, body, anchor);
World.CreateJoint(jd);
prevBody = body;
}
}
{
var shape = new PolygonShape();
shape.SetAsBox(1.0f, 0.125f);
var fd = new FixtureDef();
fd.Shape = shape;
fd.Density = 20.0f;
var jd = new WeldJointDef();
jd.FrequencyHz = 5.0f;
jd.DampingRatio = 0.7f;
var prevBody = ground;
for (var i = 0; i < 3; ++i)
{
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position.Set(-14.0f + 2.0f * i, 15.0f);
var body = World.CreateBody(bd);
body.CreateFixture(fd);
var anchor = new Vector2(-15.0f + 2.0f * i, 15.0f);
jd.Initialize(prevBody, body, anchor);
World.CreateJoint(jd);
prevBody = body;
}
}
{
var shape = new PolygonShape();
shape.SetAsBox(0.5f, 0.125f);
var fd = new FixtureDef();
fd.Shape = shape;
fd.Density = 20.0f;
var jd = new WeldJointDef();
var prevBody = ground;
for (var i = 0; i < Count; ++i)
{
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position.Set(-4.5f + 1.0f * i, 5.0f);
var body = World.CreateBody(bd);
body.CreateFixture(fd);
if (i > 0)
{
var anchor = new Vector2(-5.0f + 1.0f * i, 5.0f);
jd.Initialize(prevBody, body, anchor);
World.CreateJoint(jd);
}
prevBody = body;
}
}
{
var shape = new PolygonShape();
shape.SetAsBox(0.5f, 0.125f);
var fd = new FixtureDef();
fd.Shape = shape;
fd.Density = 20.0f;
var jd = new WeldJointDef();
jd.FrequencyHz = 8.0f;
jd.DampingRatio = 0.7f;
var prevBody = ground;
for (var i = 0; i < Count; ++i)
{
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position.Set(5.5f + 1.0f * i, 10.0f);
var body = World.CreateBody(bd);
body.CreateFixture(fd);
if (i > 0)
{
var anchor = new Vector2(5.0f + 1.0f * i, 10.0f);
jd.Initialize(prevBody, body, anchor);
World.CreateJoint(jd);
}
prevBody = body;
}
}
for (var i = 0; i < 2; ++i)
{
var vertices = new Vector2 [3];
vertices[0].Set(-0.5f, 0.0f);
vertices[1].Set(0.5f, 0.0f);
vertices[2].Set(0.0f, 1.5f);
var shape = new PolygonShape();
shape.Set(vertices);
var fd = new FixtureDef();
fd.Shape = shape;
fd.Density = 1.0f;
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position.Set(-8.0f + 8.0f * i, 12.0f);
var body = World.CreateBody(bd);
body.CreateFixture(fd);
}
for (var i = 0; i < 2; ++i)
{
var shape = new CircleShape();
shape.Radius = 0.5f;
var fd = new FixtureDef();
fd.Shape = shape;
fd.Density = 1.0f;
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position.Set(-6.0f + 6.0f * i, 10.0f);
var body = World.CreateBody(bd);
body.CreateFixture(fd);
}
}
public Cloth()
{
FixtureDef boxFix = new FixtureDef(new CircleShape(ClothBodySize), 0.2f);
BodyDef boxBod = new BodyDef(BodyType.Dynamic, Vec2.Empty);
boxFix.Filter.GroupIndex = -1;
boxBod.Position = new Vec2(-ClothTotalWidth / 2, 30);
Body bar;
{
bar = m_world.CreateBody(new BodyDef(BodyType.Static, new Vec2(-ClothBodySpacingWidth / 2, 30)));
var fd = new FixtureDef(new PolygonShape((ClothTotalWidth / 2) + ClothBodySpacingWidth, 0.25f));
fd.Filter.GroupIndex = -1;
bar.CreateFixture(fd);
}
for (int y = 0; y < ClothSegmentsHeight; ++y)
{
for (int x = 0; x < ClothSegmentsWidth; ++x)
{
Body body = m_world.CreateBody(boxBod);
boxBod.Position += new Vec2(ClothBodySpacingWidth, 0);
body.CreateFixture(boxFix);
if (y == 0)
{
WeldJointDef wjd = new WeldJointDef();
wjd.Initialize(body, bar, body.WorldCenter);
m_world.CreateJoint(wjd);
}
cloth[x, y] = body;
}
boxBod.Position = new Vec2(-ClothTotalWidth / 2, boxBod.Position.Y - ClothBodySpacingWidth);
}
for (int y = 0; y < ClothSegmentsHeight; ++y)
{
for (int x = 0; x < ClothSegmentsWidth; ++x)
{
Body leftBody, rightBody;
DistanceJointDef djd = new DistanceJointDef();
djd.FrequencyHz = 15 + Rand.RandomFloat(0, 6);
djd.DampingRatio = 0.11f + Rand.RandomFloat(0.01f, 0.15f);
// connect to right
if (x != ClothSegmentsWidth - 1)
{
leftBody = cloth[x, y];
rightBody = cloth[x + 1, y];
djd.Initialize(leftBody, rightBody, leftBody.WorldCenter, rightBody.WorldCenter);
m_world.CreateJoint(djd);
}
// connect to up
if (y != 0)
{
leftBody = cloth[x, y];
rightBody = cloth[x, y - 1];
djd.Initialize(leftBody, rightBody, leftBody.WorldCenter, rightBody.WorldCenter);
m_world.CreateJoint(djd);
}
}
}
}
public APERipOff()
{
Body ground = m_world.CreateBody(new BodyDef());
ground.CreateFixture(new FixtureDef(new PolygonShape(new Vec2(-26, 40), new Vec2(32, 40)), 0.0f, 0.0f, 0.65f));
ground.CreateFixture(new FixtureDef(new PolygonShape(new Vec2(-26, 40), new Vec2(-26 - 5, 40 - 4)), 0.0f, 0.0f, 0.65f));
ground.CreateFixture(new FixtureDef(new PolygonShape(new Vec2(-26 - 5, 40 - 4), new Vec2(-26 - 5, 40 - 44)), 0.0f, 0.0f, 0.65f));
ground.CreateFixture(new FixtureDef(new PolygonShape(new Vec2(32, 40), new Vec2(32, 40 - 44)), 0.0f, 0.0f, 0.65f));
ground.CreateFixture(new FixtureDef(new CircleShape(new Vec2(27, 40 - 58), 25), 0.0f, 0.0f, 0.65f));
ground.CreateFixture(new FixtureDef(new PolygonShape(new Vec2(24, 2), new Vec2(-3 - 5, 19)), 0.0f, 0.0f, 0.65f));
ground.CreateFixture(new FixtureDef(new CircleShape(new Vec2(-7.25f - 5, 14.75f), 6), 0.0f, 0.0f, 0.65f));
ground.CreateFixture(new FixtureDef(new PolygonShape(new Vec2(-12 - 5, 18), new Vec2(-26 - 5 + 5, 11)), 0.0f, 0.0f, 0.65f));
ground.CreateFixture(new FixtureDef(new PolygonShape(new Vec2(-26 - 5 + 5, 11), new Vec2(-26 - 5 + 5, 40 - 44)), 0.0f, 0.0f, 0.65f));
ground.CreateFixture(new FixtureDef(new PolygonShape(new Vec2(-26 - 5, 40 - 44), new Vec2(-26 - 5 + 5, 40 - 44)), 0.0f, 2.0f, 0.65f));
ground.CreateFixture(new FixtureDef(new PolygonShape(new Vec2(-26 + 5, 40 - 5), new Vec2(-26 - 5 + 5, 40 - 4 - 5)), 0.0f, 0.0f, 0.65f));
ground.CreateFixture(new FixtureDef(new PolygonShape(new Vec2(-26 - 5 + 5, 40 - 4 - 5), new Vec2(-26 - 5 + 5, 40 - 22)), 0.0f, 0.0f, 0.65f));
ground.CreateFixture(new FixtureDef(new PolygonShape(new Vec2(-26 + 5, 40 - 5), new Vec2(-26 + 15, 40 - 5)), 0.0f, 0.0f, 0.65f));
ground.CreateFixture(new FixtureDef(new PolygonShape(new Vec2(-26 + 35, 40 - 5), new Vec2(-26 + 35 + 12, 40 - 5)), 0.0f, 0.0f, 0.65f));
{
Body _oldBody = null;
for (int i = 0; i < 5; ++i)
{
Body thing = m_world.CreateBody(new BodyDef(BodyType.Dynamic, new Vec2(-26 + 15 + 2 + (4.0f * i), 40 - 6 + 0.75f)));
var fix = thing.CreateFixture(new PolygonShape(2, 0.25f), 8.0f);
if (i == 0)
{
RevoluteJointDef rjd = new RevoluteJointDef();
rjd.Initialize(thing, ground, thing.WorldCenter - new Vec2(2, 0));
m_world.CreateJoint(rjd);
}
else if (i == 4)
{
RevoluteJointDef rjd = new RevoluteJointDef();
rjd.Initialize(thing, ground, thing.WorldCenter + new Vec2(2, 0));
m_world.CreateJoint(rjd);
}
if (_oldBody != null)
{
RevoluteJointDef rjd = new RevoluteJointDef();
rjd.Initialize(_oldBody, thing, _oldBody.WorldCenter + new Vec2(2, 0));
m_world.CreateJoint(rjd);
}
_oldBody = thing;
}
}
BodyDef bd = new BodyDef(BodyType.Dynamic, Vec2.Empty);
var cantilever = m_world.CreateBody(bd);
var cantpos = new Vec2(-26 + 52.8f, 40 - 5 - (1.40f / 2));
{
PolygonShape poly = APERipOff.MakeShape(cantpos.X, cantpos.Y, 8.8f, 1.40f, 0);
cantilever.CreateFixture(new FixtureDef(poly, 0.05f));
}
{
var p = cantpos + new Vec2(8.8f / 2, 0);
CircleShape circle = APERipOff.MakeCircle(p.X, p.Y, 1.40f / 2);
var tempbody = m_world.CreateBody(bd);
tempbody.CreateFixture(new FixtureDef(circle, 0.05f));
p = cantpos - new Vec2(8.8f / 2, 0);
circle = APERipOff.MakeCircle(p.X, p.Y, 1.40f / 2);
cantilever.CreateFixture(new FixtureDef(circle, 0.05f));
WeldJointDef wjd = new WeldJointDef();
wjd.Initialize(tempbody, ground, tempbody.WorldCenter);
wjd.CollideConnected = false;
m_world.CreateJoint(wjd);
WeldJointDef rjd = new WeldJointDef();
rjd.Initialize(tempbody, cantilever, tempbody.WorldCenter);
rjd.CollideConnected = true;
m_world.CreateJoint(rjd);
}
new Capsule(m_world, new Vec2(1.5f, 37.5f), 5, 4, 0.35f);
{
Body squareThing;
bd = new BodyDef(BodyType.Kinematic, new Vec2(23, 17));
squareThing = m_world.CreateBody(bd);
squareThing.CreateFixture(new FixtureDef(new CircleShape(new Vec2(-1, 4), 0.35f), 1));
squareThing.CreateFixture(new FixtureDef(new CircleShape(new Vec2(1, 4), 0.35f), 1));
squareThing.CreateFixture(new FixtureDef(new CircleShape(new Vec2(-1, -4.5f), 0.35f), 1));
squareThing.CreateFixture(new FixtureDef(new CircleShape(new Vec2(1, -4.5f), 0.35f), 1));
squareThing.CreateFixture(new FixtureDef(new PolygonShape(1, 0.35f, new Vec2(0, -4.5f), 0), 1));
squareThing.CreateFixture(new FixtureDef(new PolygonShape(1, 0.35f, new Vec2(0, 4.0f), 0), 1));
squareThing.CreateFixture(new FixtureDef(new PolygonShape(0.35f, 4.25f, new Vec2(-1, -0.25f), 0), 1));
squareThing.CreateFixture(new FixtureDef(new PolygonShape(0.35f, 4.25f, new Vec2(1, -0.25f), 0), 1));
squareThing.AngularVelocity = -0.50f;
m_world.CreateBody(new BodyDef(BodyType.Dynamic, new Vec2(23, 19)))
.CreateFixture(new FixtureDef(new CircleShape(0.625f), 1));
Body squareOne = m_world.CreateBody(new BodyDef(BodyType.Dynamic, squareThing.WorldCenter + new Vec2(1, 8.0f)));
squareOne.CreateFixture(new PolygonShape(0.50f, 0.50f), 500);
RevoluteJointDef rjd = new RevoluteJointDef();
rjd.Initialize(squareThing, squareOne, squareThing.WorldCenter + new Vec2(1, 4));
rjd.CollideConnected = true;
m_world.CreateJoint(rjd);
Body squareTwo = m_world.CreateBody(new BodyDef(BodyType.Dynamic, squareThing.WorldCenter + new Vec2(-1, -8.5f)));
squareTwo.CreateFixture(new PolygonShape(0.50f, 0.50f), 500);
rjd = new RevoluteJointDef();
rjd.Initialize(squareThing, squareTwo, squareThing.WorldCenter + new Vec2(-1, -4.5f));
rjd.CollideConnected = true;
m_world.CreateJoint(rjd);
}
{
Vec2 carPos = new Vec2(-11.5f, 37.5f);
var bodyShape = new PolygonShape(3.5f, 0.6f);
bd = new BodyDef(BodyType.Dynamic, carPos);
var body = m_world.CreateBody(bd);
body.CreateFixture(bodyShape, 20.0f);
{
var wheel = new CircleShape(2.0f);
var leftWheel = m_world.CreateBody(new BodyDef(BodyType.Dynamic, carPos - new Vec2(3.5f, 0)));
leftWheel.CreateFixture(new FixtureDef(wheel, 20.0f, 0.0f, 0.65f));
RevoluteJointDef rjd = new RevoluteJointDef();
rjd.Initialize(leftWheel, body, leftWheel.WorldCenter);
wheelL = (RevoluteJoint)m_world.CreateJoint(rjd);
rjd.UserData = "lwheel";
}
{
var wheel = new CircleShape(2.0f);
var leftWheel = m_world.CreateBody(new BodyDef(BodyType.Dynamic, carPos + new Vec2(3.5f, 0)));
leftWheel.CreateFixture(new FixtureDef(wheel, 20.0f, 0.0f, 0.65f));
RevoluteJointDef rjd = new RevoluteJointDef();
rjd.Initialize(leftWheel, body, leftWheel.WorldCenter);
wheelR = (RevoluteJoint)m_world.CreateJoint(rjd);
rjd.UserData = "rwheel";
}
}
}
Cantilever()
{
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = m_world.CreateBody(bd);
EdgeShape shape = new EdgeShape();
shape.Set(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
shape.Density = 0;
ground.CreateFixture(shape);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.5f, 0.125f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.Density = 20.0f;
WeldJointDef jd = new WeldJointDef();
Body prevBody = ground;
for (int i = 0; i < e_count; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(-14.5f + 1.0f * i, 5.0f);
Body body = m_world.CreateBody(bd);
body.CreateFixture(fd);
Vec2 anchor = new Vec2(-15.0f + 1.0f * i, 5.0f);
jd.Initialize(prevBody, body, anchor);
m_world.CreateJoint(jd);
prevBody = body;
}
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(1.0f, 0.125f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.Density = 20.0f;
WeldJointDef jd = new WeldJointDef();
jd.frequencyHz = 5.0f;
jd.dampingRatio = 0.7f;
Body prevBody = ground;
for (int i = 0; i < 3; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(-14.0f + 2.0f * i, 15.0f);
Body body = m_world.CreateBody(bd);
body.CreateFixture(fd);
Vec2 anchor = new Vec2(-15.0f + 2.0f * i, 15.0f);
jd.Initialize(prevBody, body, anchor);
m_world.CreateJoint(jd);
prevBody = body;
}
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.5f, 0.125f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.Density = 20.0f;
WeldJointDef jd = new WeldJointDef();
Body prevBody = ground;
for (int i = 0; i < e_count; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(-4.5f + 1.0f * i, 5.0f);
Body body = m_world.CreateBody(bd);
body.CreateFixture(fd);
if (i > 0)
{
Vec2 anchor = new Vec2(-5.0f + 1.0f * i, 5.0f);
jd.Initialize(prevBody, body, anchor);
m_world.CreateJoint(jd);
}
prevBody = body;
}
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.5f, 0.125f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.Density = 20.0f;
WeldJointDef jd = new WeldJointDef();
jd.frequencyHz = 8.0f;
jd.dampingRatio = 0.7f;
Body prevBody = ground;
for (int i = 0; i < e_count; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(5.5f + 1.0f * i, 10.0f);
Body body = m_world.CreateBody(bd);
body.CreateFixture(fd);
if (i > 0)
{
Vec2 anchor = new Vec2(5.0f + 1.0f * i, 10.0f);
jd.Initialize(prevBody, body, anchor);
m_world.CreateJoint(jd);
}
prevBody = body;
}
}
for (int i = 0; i < 2; ++i)
{
Vec2[] vertices = new Vec2[3];
vertices[0].Set(-0.5f, 0.0f);
vertices[1].Set(0.5f, 0.0f);
vertices[2].Set(0.0f, 1.5f);
PolygonShape shape = new PolygonShape();
shape.Set(vertices, 3);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.Density = 1.0f;
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(-8.0f + 8.0f * i, 12.0f);
Body body = m_world.CreateBody(bd);
body.CreateFixture(fd);
}
for (int i = 0; i < 2; ++i)
{
CircleShape shape = new CircleShape();
shape.m_radius = 0.5f;
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.Density = 1.0f;
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(-6.0f + 6.0f * i, 10.0f);
Body body = m_world.CreateBody(bd);
body.CreateFixture(fd);
}
}
public WorldData Deserialize(Stream stream)
{
XMLFragmentElement root = XMLFragmentParser.LoadFromStream(stream);
if (root.Name.ToLower() != "world")
throw new Exception();
WorldData data = new WorldData();
if (root.Attributes.Count == 0)
throw new Exception("No version");
else if (int.Parse(root.Attributes[0].Value) != WorldXmlSerializer.XmlVersion)
throw new Exception("Wrong version XML file");
data.Version = int.Parse(root.Attributes[0].Value);
foreach (var main in root.Elements)
{
switch (main.Name.ToLower())
{
case "gravity":
{
data.Gravity = ReadVector(main);
}
break;
case "shapes":
{
foreach (var n in main.Elements)
{
if (n.Name.ToLower() != "shape")
throw new Exception();
ShapeType type = (ShapeType)Enum.Parse(typeof(ShapeType), n.Attributes[0].Value, true);
string name = "";
switch (type)
{
case ShapeType.Circle:
{
CircleShape shape = new CircleShape();
foreach (var sn in n.Elements)
{
switch (sn.Name.ToLower())
{
case "name":
name = sn.Value;
break;
case "radius":
shape.Radius = float.Parse(sn.Value);
break;
case "position":
shape.Position = ReadVector(sn);
break;
default:
throw new Exception();
}
}
_shapes.Add(new ShapeSerialized(shape, name));
}
break;
case ShapeType.Polygon:
{
PolygonShape shape = new PolygonShape();
foreach (var sn in n.Elements)
{
switch (sn.Name.ToLower())
{
case "name":
name = sn.Value;
break;
case "vertices":
{
List<Vec2> verts = new List<Vec2>();
foreach (var vert in sn.Elements)
verts.Add(ReadVector(vert));
shape.Vertices = verts.ToArray();
}
break;
case "centroid":
shape.Centroid = ReadVector(sn);
break;
}
}
_shapes.Add(new ShapeSerialized(shape, name));
}
break;
}
}
}
break;
case "fixtures":
{
foreach (var n in main.Elements)
{
FixtureDef fixture = new FixtureDef();
if (n.Name.ToLower() != "fixture")
throw new Exception();
string name = "";
int id = 0;
foreach (var sn in n.Elements)
{
switch (sn.Name.ToLower())
{
case "name":
name = sn.Value;
break;
case "shape":
id = int.Parse(sn.Value);
break;
case "density":
fixture.Density = float.Parse(sn.Value);
break;
case "filterdata":
fixture.Filter = (FilterData)ReadSimpleType(sn, typeof(FilterData), true);
break;
case "friction":
fixture.Friction = float.Parse(sn.Value);
break;
case "issensor":
fixture.IsSensor = bool.Parse(sn.Value);
break;
case "restitution":
fixture.Restitution = float.Parse(sn.Value);
break;
case "userdata":
fixture.UserData = ReadSimpleType(sn, null, false);
break;
}
}
fixture.Shape = _shapes[id].Shape;
_fixtures.Add(new FixtureDefSerialized(fixture, id, name));
}
}
break;
case "bodies":
{
foreach (var n in main.Elements)
{
BodyDef body = new BodyDef();
if (n.Name.ToLower() != "body")
throw new Exception();
body.BodyType = (BodyType)Enum.Parse(typeof(BodyType), n.Attributes[0].Value, true);
List<int> fixtures = new List<int>();
string name = "";
foreach (var sn in n.Elements)
{
switch (sn.Name.ToLower())
{
case "name":
name = sn.Value;
break;
case "active":
body.Active = bool.Parse(sn.Value);
break;
case "allowsleep":
body.AllowSleep = bool.Parse(sn.Value);
break;
case "angle":
body.Angle = float.Parse(sn.Value);
break;
case "angulardamping":
body.AngularDamping = float.Parse(sn.Value);
break;
case "angularvelocity":
body.AngularVelocity = float.Parse(sn.Value);
break;
case "awake":
body.Awake = bool.Parse(sn.Value);
break;
case "bullet":
body.Bullet = bool.Parse(sn.Value);
break;
case "fixedrotation":
body.FixedRotation = bool.Parse(sn.Value);
break;
case "inertiascale":
body.InertiaScale = float.Parse(sn.Value);
break;
case "lineardamping":
body.LinearDamping = float.Parse(sn.Value);
break;
case "linearvelocity":
body.LinearVelocity = ReadVector(sn);
break;
case "position":
body.Position = ReadVector(sn);
break;
case "userdata":
body.UserData = ReadSimpleType(sn, null, false);
break;
case "fixtures":
{
foreach (var v in sn.Elements)
fixtures.Add(int.Parse(v.Value));
break;
}
}
}
_bodies.Add(new BodyDefSerialized(null, body, fixtures, name));
}
}
break;
case "joints":
{
foreach (var n in main.Elements)
{
JointDef mainDef = null;
if (n.Name.ToLower() != "joint")
throw new Exception();
JointType type = (JointType)Enum.Parse(typeof(JointType), n.Attributes[0].Value, true);
int bodyA = -1, bodyB = -1;
bool collideConnected = false;
object userData = null;
string name = "";
switch (type)
{
case JointType.Distance:
mainDef = new DistanceJointDef();
break;
case JointType.Friction:
mainDef = new FrictionJointDef();
break;
case JointType.Line:
mainDef = new LineJointDef();
break;
case JointType.Prismatic:
mainDef = new PrismaticJointDef();
break;
case JointType.Pulley:
mainDef = new PulleyJointDef();
break;
case JointType.Revolute:
mainDef = new RevoluteJointDef();
break;
case JointType.Weld:
mainDef = new WeldJointDef();
break;
default:
throw new Exception("Invalid or unsupported joint");
}
foreach (var sn in n.Elements)
{
// check for specific nodes
switch (type)
{
case JointType.Distance:
{
switch (sn.Name.ToLower())
{
case "dampingratio":
((DistanceJointDef)mainDef).DampingRatio = float.Parse(sn.Value);
break;
case "frequencyhz":
((DistanceJointDef)mainDef).FrequencyHz = float.Parse(sn.Value);
break;
case "length":
((DistanceJointDef)mainDef).Length = float.Parse(sn.Value);
break;
case "localanchora":
((DistanceJointDef)mainDef).LocalAnchorA = ReadVector(sn);
break;
case "localanchorb":
((DistanceJointDef)mainDef).LocalAnchorB = ReadVector(sn);
break;
}
}
break;
case JointType.Friction:
{
switch (sn.Name.ToLower())
{
case "localanchora":
((FrictionJointDef)mainDef).LocalAnchorA = ReadVector(sn);
break;
case "localanchorb":
((FrictionJointDef)mainDef).LocalAnchorB = ReadVector(sn);
break;
case "maxforce":
((FrictionJointDef)mainDef).MaxForce = float.Parse(sn.Value);
break;
case "maxtorque":
((FrictionJointDef)mainDef).MaxTorque = float.Parse(sn.Value);
break;
}
}
break;
case JointType.Line:
{
switch (sn.Name.ToLower())
{
case "enablelimit":
((LineJointDef)mainDef).EnableLimit = bool.Parse(sn.Value);
break;
case "enablemotor":
((LineJointDef)mainDef).EnableMotor = bool.Parse(sn.Value);
break;
case "localanchora":
((LineJointDef)mainDef).LocalAnchorA = ReadVector(sn);
break;
case "localanchorb":
((LineJointDef)mainDef).LocalAnchorB = ReadVector(sn);
break;
case "localaxisa":
((LineJointDef)mainDef).LocalAxisA = ReadVector(sn);
break;
case "maxmotorforce":
((LineJointDef)mainDef).MaxMotorForce = float.Parse(sn.Value);
break;
case "motorspeed":
((LineJointDef)mainDef).MotorSpeed = float.Parse(sn.Value);
break;
case "lowertranslation":
((LineJointDef)mainDef).LowerTranslation = float.Parse(sn.Value);
break;
case "uppertranslation":
((LineJointDef)mainDef).UpperTranslation = float.Parse(sn.Value);
break;
}
}
break;
case JointType.Prismatic:
{
switch (sn.Name.ToLower())
{
case "enablelimit":
((PrismaticJointDef)mainDef).EnableLimit = bool.Parse(sn.Value);
break;
case "enablemotor":
((PrismaticJointDef)mainDef).EnableMotor = bool.Parse(sn.Value);
break;
case "localanchora":
((PrismaticJointDef)mainDef).LocalAnchorA = ReadVector(sn);
break;
case "localanchorb":
((PrismaticJointDef)mainDef).LocalAnchorB = ReadVector(sn);
break;
case "localaxisa":
((PrismaticJointDef)mainDef).LocalAxis = ReadVector(sn);
break;
case "maxmotorforce":
((PrismaticJointDef)mainDef).MaxMotorForce = float.Parse(sn.Value);
break;
case "motorspeed":
((PrismaticJointDef)mainDef).MotorSpeed = float.Parse(sn.Value);
break;
case "lowertranslation":
((PrismaticJointDef)mainDef).LowerTranslation = float.Parse(sn.Value);
break;
case "uppertranslation":
((PrismaticJointDef)mainDef).UpperTranslation = float.Parse(sn.Value);
break;
case "referenceangle":
((PrismaticJointDef)mainDef).ReferenceAngle = float.Parse(sn.Value);
break;
}
}
break;
case JointType.Pulley:
{
switch (sn.Name.ToLower())
{
case "groundanchora":
((PulleyJointDef)mainDef).GroundAnchorA = ReadVector(sn);
break;
case "groundanchorb":
((PulleyJointDef)mainDef).GroundAnchorB = ReadVector(sn);
break;
case "lengtha":
((PulleyJointDef)mainDef).LengthA = float.Parse(sn.Value);
break;
case "lengthb":
((PulleyJointDef)mainDef).LengthB = float.Parse(sn.Value);
break;
case "localanchora":
((PulleyJointDef)mainDef).LocalAnchorA = ReadVector(sn);
break;
case "localanchorb":
((PulleyJointDef)mainDef).LocalAnchorB = ReadVector(sn);
break;
case "maxlengtha":
((PulleyJointDef)mainDef).MaxLengthA = float.Parse(sn.Value);
break;
case "maxlengthb":
((PulleyJointDef)mainDef).MaxLengthB = float.Parse(sn.Value);
break;
case "ratio":
((PulleyJointDef)mainDef).Ratio = float.Parse(sn.Value);
break;
}
}
break;
case JointType.Revolute:
{
switch (sn.Name.ToLower())
{
case "enablelimit":
((RevoluteJointDef)mainDef).EnableLimit = bool.Parse(sn.Value);
break;
case "enablemotor":
((RevoluteJointDef)mainDef).EnableMotor = bool.Parse(sn.Value);
break;
case "localanchora":
((RevoluteJointDef)mainDef).LocalAnchorA = ReadVector(sn);
break;
case "localanchorb":
((RevoluteJointDef)mainDef).LocalAnchorB = ReadVector(sn);
break;
case "maxmotortorque":
((RevoluteJointDef)mainDef).MaxMotorTorque = float.Parse(sn.Value);
break;
case "motorspeed":
((RevoluteJointDef)mainDef).MotorSpeed = float.Parse(sn.Value);
break;
case "lowerangle":
((RevoluteJointDef)mainDef).LowerAngle = float.Parse(sn.Value);
break;
case "upperangle":
((RevoluteJointDef)mainDef).UpperAngle = float.Parse(sn.Value);
break;
case "referenceangle":
((RevoluteJointDef)mainDef).ReferenceAngle = float.Parse(sn.Value);
break;
}
}
break;
case JointType.Weld:
{
switch (sn.Name.ToLower())
{
case "localanchora":
((WeldJointDef)mainDef).LocalAnchorA = ReadVector(sn);
break;
case "localanchorb":
((WeldJointDef)mainDef).LocalAnchorB = ReadVector(sn);
break;
}
}
break;
case JointType.Gear:
throw new Exception("Gear joint is unsupported");
}
switch (sn.Name.ToLower())
{
case "name":
name = sn.Value;
break;
case "bodya":
bodyA = int.Parse(sn.Value);
break;
case "bodyb":
bodyB = int.Parse(sn.Value);
break;
case "collideconnected":
collideConnected = bool.Parse(sn.Value);
break;
case "userdata":
userData = ReadSimpleType(sn, null, false);
break;
}
}
mainDef.CollideConnected = collideConnected;
mainDef.UserData = userData;
_joints.Add(new JointDefSerialized(mainDef, bodyA, bodyB, name));
}
}
break;
}
}
return data;
}
public Breakable()
{
// Ground body
{
BodyDef bd = new BodyDef();
Body ground = m_world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
// Breakable dynamic body
/*{
* BodyDef bd = new BodyDef();
* bd.BodyType = BodyType.Dynamic;
* bd.Position = new Vec2(0.0f, 40.0f);
* bd.Angle = (float)(0.25 * Math.PI);
* var m_body1 = m_world.CreateBody(bd);
*
* m_shape1.SetAsBox(0.5f, 0.5f, new Vec2(-0.5f, 0.0f), 0.0f);
* var m_piece1 = m_body1.CreateFixture(m_shape1, 1.0f);
*
* m_shape2.SetAsBox(0.5f, 0.5f, new Vec2(0.5f, 0.0f), 0.0f);
* var m_piece2 = m_body1.CreateFixture(m_shape2, 1.0f);
*
* m_breaks.Add(new BodyBreaker(m_world, m_body1, m_piece1, m_piece2));
* }*/
float y = 2.0f;
for (int i = 0; i < 3; ++i)
{
PolygonShape bottom = new PolygonShape();
bottom.SetAsBox(1.5f, 0.15f);
PolygonShape left = new PolygonShape();
left.SetAsBox(0.15f, 2.7f, new Vec2(-1.45f, 2.35f), 0.2f);
PolygonShape right = new PolygonShape();
right.SetAsBox(0.15f, 2.7f, new Vec2(1.45f, 2.35f), -0.2f);
BodyDef bd = new BodyDef();
bd.BodyType = BodyType.Dynamic;
bd.Position = new Vec2(0.0f, y += 3.5f);
Body bottom_body = m_world.CreateBody(bd);
var bf = bottom_body.CreateFixture(bottom, 4.0f);
Body left_body = m_world.CreateBody(bd);
var lf = left_body.CreateFixture(left, 4.0f);
Body right_body = m_world.CreateBody(bd);
var rf = right_body.CreateFixture(right, 4.0f);
WeldJointDef wjd = new WeldJointDef();
wjd.Initialize(bottom_body, left_body, bd.Position);
wjd.CollideConnected = false;
WeldJoint wj1 = (WeldJoint)m_world.CreateJoint(wjd);
wjd.Initialize(bottom_body, right_body, bd.Position);
WeldJoint wj2 = (WeldJoint)m_world.CreateJoint(wjd);
m_breaks.Add(new BreakableJoint(wj1, 100));
m_breaks.Add(new BreakableJoint(wj2, 100));
}
}
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);
}
}
