public override void Update(float dt)
{
base.Update(dt);
if (CCMouse.Instance.HasPosition)
{
// turn the control body based on the angle relative to the actual body
cpVect mouseDelta = cpVect.cpvsub(CCMouse.Instance.Position, tankBody.GetPosition());
float turn = cpVect.cpvtoangle(cpVect.cpvunrotate(tankBody.GetRotation(), mouseDelta));
tankControlBody.SetAngle(tankBody.GetAngle() - turn);
// drive the tank towards the mouse
if (cpVect.cpvnear(CCMouse.Instance.Position, tankBody.GetPosition(), 30))
{
tankControlBody.SetVelocity(cpVect.Zero); // stop
}
else
{
float direction = (cpVect.cpvdot(mouseDelta, tankBody.GetRotation()) > 0 ? 1 : -1);
tankControlBody.SetVelocity(cpVect.cpvrotate(tankBody.GetRotation(), new cpVect(30 * direction, 0)));
}
}
space.Step(dt);
}
//public override void Visit()
//{
// base.AdditionalTransform = NodeToBodyTransform();
// base.Visit();
//}
// returns the transform matrix according the Chipmunk Body values
public CCAffineTransform NodeToBodyTransform()
{
var angle = CCPoint.ForAngle(-CCMathHelper.ToRadians(RotationX));
cpVect rot = (IgnoreBodyRotation ? new cpVect(angle.X, angle.Y) : _body.GetRotation()); //TODO: CHECK ROT
double x = _body.GetPosition().x + (double)rot.x * -AnchorPointInPoints.X - (double)rot.y * (-AnchorPointInPoints.Y);
double y = _body.GetPosition().y + (double)rot.y * -AnchorPointInPoints.X + (double)rot.x * (-AnchorPointInPoints.Y);
return(new CCAffineTransform((float)rot.x, (float)rot.y, (float)-rot.y, (float)rot.x, (float)x, (float)y));
}
/// <summary>
/// Updates the transforms position to the physics bodys position
/// NOTE: When settings the position directly of a transform, you are also setting the position of the physics object
/// This create unwanted behavoir so use this function to set the position without changing the rigidbodys transform
/// </summary>
public void UpdateToBodyTransform()
{
if (HasPhysicsAttached)
{
cpVect pos = AttachedPhysicsBody.GetPosition();
_position = new Vector2(pos.x * Physics.PHYSICS_TRANSFORM_SCALE, pos.y * Physics.PHYSICS_TRANSFORM_SCALE);
_rotation = AttachedPhysicsBody.GetAngle();
}
}
void eachBody(cpBody body)
{
cpVect pos = body.GetPosition();
if (pos.y < -400 || cp.cpfabs(pos.x) > 340)
{
body.SetPosition(new cpVect(
RandomHelper.next(-300, 300),
RandomHelper.next(350, 900)));
}
}
void planetGravityVelocityFunc(cpBody body, cpVect gravity, float damping, float dt)
{
// Gravitational acceleration is proportional to the inverse square of
// distance, and directed toward the origin. The central planet is assumed
// to be massive enough that it affects the satellites but not vice versa.
cpVect p = body.GetPosition();
float sqdist = cpVect.cpvlengthsq(p);
cpVect g = cpVect.cpvmult(p, -gravityStrength / (sqdist * cp.cpfsqrt(sqdist)));
body.UpdateVelocity(g, damping, dt);
}
//UpdatePosition then to Rendering game
public void UpdatePosition(float dt)
{
mRigidbody2D.UpdatePosition(dt);
// X.Tools.LogUtils.Debug(X.Tools.LogTag.Test, this.gameObject.name + ":" + mRigidbody2D.GetPosition().ToString());
cpPos = mRigidbody2D.GetPosition();
mPostion.Set(cpPos.x, cpPos.y);
mAngle = cp.cpfangle(mRigidbody2D.GetAngle());
//this.transform.SetPositionAndRotation(new Vector3(cpPos.x * 0.01f, cpPos.y * 0.01f, 0f), Quaternion.Euler(0f,0f, mAngle));//z-Euler
this.transform.position = mPostion * XSpaceManager.UnitsPerPixel;
this.transform.rotation = Quaternion.Euler(0f, 0f, mAngle);
}
public override void Update(long gametime)
{
physic.UpdateVelocity(space.GetGravity(), 1, 0.01f);
physic.UpdatePosition(1);
shp.Update(trsf);
cpVect position = physic.GetPosition();
InvokeOnMainThread(() => {
SetPosition(position);
});
angle = (physic.GetAngle() % 360) / 57.2958f;
if (position.y > 500)
{
physic.ApplyImpulse(new cpVect(1, -150), new cpVect(0.1f, 0.1f));
}
}
public override void Update(float dt)
{
base.Update(dt);
float coef = (2.0f + ChipmunkDemoKeyboard.y) / 3.0f;
float rate = ChipmunkDemoKeyboard.x * 30.0f * coef;
motor.SetRate(rate);
motor.SetMaxForce(rate > 0 ? 1000000.0f : 0.0f);
space.Step(dt);
for (int i = 0; i < numBalls; i++)
{
cpBody ball = balls[i];
cpVect pos = ball.GetPosition();
if (pos.x > 320.0f)
{
ball.SetVelocity(cpVect.Zero);
ball.SetPosition(new cpVect(-224.0f, 200.0f));
}
}
}
public override void OnEnter()
{
base.OnEnter();
SetSubTitle("This unicycle is completely driven and balanced by a single cpSimpleMotor.\nMove the mouse to make the unicycle follow it.");
space.SetIterations(30);
space.SetGravity(new cpVect(0, -500));
{
cpShape shape = null;
cpBody staticBody = space.GetStaticBody();
shape = space.AddShape(new cpSegmentShape(staticBody, new cpVect(-3200, -240), new cpVect(3200, -240), 0.0f));
shape.SetElasticity(1.0f);
shape.SetFriction(1.0f);
shape.SetFilter(NOT_GRABBABLE_FILTER);
shape = space.AddShape(new cpSegmentShape(staticBody, new cpVect(0, -200), new cpVect(240, -240), 0.0f));
shape.SetElasticity(1.0f);
shape.SetFriction(1.0f);
shape.SetFilter(NOT_GRABBABLE_FILTER);
shape = space.AddShape(new cpSegmentShape(staticBody, new cpVect(-240, -240), new cpVect(0, -200), 0.0f));
shape.SetElasticity(1.0f);
shape.SetFriction(1.0f);
shape.SetFilter(NOT_GRABBABLE_FILTER);
}
{
float radius = 20.0f;
float mass = 1.0f;
float moment = cp.MomentForCircle(mass, 0.0f, radius, cpVect.Zero);
wheel_body = space.AddBody(new cpBody(mass, moment));
wheel_body.SetPosition(new cpVect(0.0f, -160.0f + radius));
cpShape shape = space.AddShape(new cpCircleShape(wheel_body, radius, cpVect.Zero));
shape.SetFriction(0.7f);
shape.SetFilter(new cpShapeFilter(1, cp.ALL_CATEGORIES, cp.ALL_CATEGORIES));
}
{
float cog_offset = 30.0f;
cpBB bb1 = new cpBB(-5.0f, 0.0f - cog_offset, 5.0f, cog_offset * 1.2f - cog_offset);
cpBB bb2 = new cpBB(-25.0f, bb1.t, 25.0f, bb1.t + 10.0f);
float mass = 3.0f;
float moment = cp.MomentForBox2(mass, bb1) + cp.MomentForBox2(mass, bb2);
balance_body = space.AddBody(new cpBody(mass, moment));
balance_body.SetPosition(new cpVect(0.0f, wheel_body.GetPosition().y + cog_offset));
cpShape shape = null;
shape = space.AddShape(cpPolyShape.BoxShape2(balance_body, bb1, 0.0f));
shape.SetFriction(1.0f);
shape.SetFilter(new cpShapeFilter(1, cp.ALL_CATEGORIES, cp.ALL_CATEGORIES));
shape = space.AddShape(cpPolyShape.BoxShape2(balance_body, bb2, 0.0f));
shape.SetFriction(1.0f);
shape.SetFilter(new cpShapeFilter(1, cp.ALL_CATEGORIES, cp.ALL_CATEGORIES));
}
cpVect anchorA = balance_body.WorldToLocal(wheel_body.GetPosition());
cpVect groove_a = cpVect.cpvadd(anchorA, new cpVect(0.0f, 30.0f));
cpVect groove_b = cpVect.cpvadd(anchorA, new cpVect(0.0f, -10.0f));
space.AddConstraint(new cpGrooveJoint(balance_body, wheel_body, groove_a, groove_b, cpVect.Zero));
space.AddConstraint(new cpDampedSpring(balance_body, wheel_body, anchorA, cpVect.Zero, 0.0f, 6.0e2f, 30.0f));
motor = space.AddConstraint(new cpSimpleMotor(wheel_body, balance_body, 0.0f));
motor.SetPreSolveFunc((s) => motor_preSolve(motor, s));
{
float width = 100.0f;
float height = 20.0f;
float mass = 3.0f;
cpBody boxBody = space.AddBody(new cpBody(mass, cp.MomentForBox(mass, width, height)));
boxBody.SetPosition(new cpVect(200, -100));
cpShape shape = space.AddShape(cpPolyShape.BoxShape(boxBody, width, height, 0.0f));
shape.SetFriction(0.7f);
}
Schedule();
}
void motor_preSolve(cpConstraint motor, cpSpace space)
{
float dt = space.GetCurrentTimeStep();
float target_x = CCMouse.Instance.Position.x;
paint = new shape
{
point1 = new cpVect(target_x, -1000.0f),
point2 = new cpVect(target_x, 1000.0f),
};
float max_v = 500.0f;
float target_v = cp.cpfclamp(cp.bias_coef(0.5f, dt / 1.2f) * (target_x - balance_body.GetPosition().x) / dt, -max_v, max_v);
float error_v = (target_v - balance_body.GetVelocity().x);
float target_sin = 3.0e-3f * cp.bias_coef(0.1f, dt) * error_v / dt;
float max_sin = cp.cpfsin(0.6f);
balance_sin = cp.cpfclamp(balance_sin - 6.0e-5f * cp.bias_coef(0.2f, dt) * error_v / dt, -max_sin, max_sin);
float target_a = (float)Math.Asin(cp.cpfclamp(-target_sin + balance_sin, -max_sin, max_sin));
float angular_diff = (float)Math.Asin(cpVect.cpvcross(balance_body.GetRotation(), cpVect.cpvforangle(target_a)));
float target_w = cp.bias_coef(0.1f, dt / 0.4f) * (angular_diff) / dt;
float max_rate = 50.0f;
float rate = cp.cpfclamp(wheel_body.GetAngularVelocity() + balance_body.GetAngularVelocity() - target_w, -max_rate, max_rate);
motor.SetRate(cp.cpfclamp(rate, -max_rate, max_rate));
motor.SetMaxForce(8.0e4f);
}
public override void OnEnter()
{
base.OnEnter();
SetSubTitle("Control the crane by moving the mouse. Right click to release.");
space.SetIterations(30);
space.SetGravity(new cpVect(0, -100));
space.SetDamping(0.8f);
cpBody staticBody = space.GetStaticBody();
cpShape shape;
shape = space.AddShape(new cpSegmentShape(staticBody, new cpVect(-320, -240), new cpVect(320, -240), 0.0f));
shape.SetElasticity(1.0f);
shape.SetFriction(1.0f);
shape.SetFilter(NOT_GRABBABLE_FILTER);
// Add a body for the dolly.
dollyBody = space.AddBody(new cpBody(10, cp.Infinity));
dollyBody.SetPosition(new cpVect(0, 100));
// Add a block so you can see it.
space.AddShape(cpPolyShape.BoxShape(dollyBody, 30, 30, 0.0f));
// Add a groove joint for it to move back and forth on.
space.AddConstraint(new cpGrooveJoint(staticBody, dollyBody, new cpVect(-250, 100), new cpVect(250, 100), cpVect.Zero));
// Add a pivot joint to act as a servo motor controlling it's position
// By updating the anchor points of the pivot joint, you can move the dolly.
dollyServo = space.AddConstraint(new cpPivotJoint(staticBody, dollyBody, dollyBody.GetPosition()));
// Max force the dolly servo can generate.
dollyServo.SetMaxForce(10000);
// Max speed of the dolly servo
dollyServo.SetMaxBias(100);
// You can also change the error bias to control how it slows down.
dollyServo.SetErrorBias(0.2f);
// Add the crane hook.
cpBody hookBody = space.AddBody(new cpBody(1, cp.Infinity));
hookBody.SetPosition(new cpVect(0, 50));
// Add a sensor shape for it. This will be used to figure out when the hook touches a box.
shape = space.AddShape(new cpCircleShape(hookBody, 10, cpVect.Zero));
shape.SetSensor(true);// cpTrue);
shape.SetCollisionType(((int)COLLISION_TYPES.HOOK_SENSOR));
// Add a slide joint to act as a winch motor
// By updating the max length of the joint you can make it pull up the load.
winchServo = space.AddConstraint(new cpSlideJoint(dollyBody, hookBody, cpVect.Zero, cpVect.Zero, 0, cp.Infinity));
// Max force the dolly servo can generate.
winchServo.SetMaxForce(30000);
// Max speed of the dolly servo
winchServo.SetMaxBias(60);
// TODO: cleanup
// Finally a box to play with
cpBody boxBody = space.AddBody(new cpBody(30, cp.MomentForBox(30, 50, 50)));
boxBody.SetPosition(new cpVect(200, -200));
// Add a block so you can see it.
shape = space.AddShape(cpPolyShape.BoxShape(boxBody, 50, 50, 0));
shape.SetFriction(0.7f);
shape.SetCollisionType(((int)COLLISION_TYPES.CRATE));
var handler = space.AddCollisionHandler(
(int)COLLISION_TYPES.HOOK_SENSOR,
(int)COLLISION_TYPES.CRATE);
handler.beginFunc = HookCrate;
Schedule();
}
void AttachHook(cpBody hook, cpBody crate)
{
hookJoint = space.AddConstraint(new cpPivotJoint(hook, crate, hook.GetPosition()));
}
static float k_scalar_body(cpBody body, cpVect point, cpVect n)
{
float rcn = cpVect.cpvcross(cpVect.cpvsub(point, body.GetPosition()), n);
return(1.0f / body.GetMass() + rcn * rcn / body.GetMoment());
}