public cpPivotJoint(cpBody a, cpBody b, cpVect pivot)
: this(a, b,
(a != null ? a.WorldToLocal(pivot) : pivot),
(b != null ? b.WorldToLocal(pivot) : pivot))
{
}
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();
}
public override void OnEnter()
{
base.OnEnter();
SetSubTitle("Use the arrow keys to control the machine.");
space.SetGravity(new cpVect(0, -600));
cpBody staticBody = space.GetStaticBody();
cpShape shape;
// beveling all of the line segments slightly helps prevent things from getting stuck on cracks
shape = space.AddShape(new cpSegmentShape(staticBody, new cpVect(-256, 16), new cpVect(-256, 300), 2.0f));
shape.SetElasticity(0.0f);
shape.SetFriction(0.5f);
shape.SetFilter(NOT_GRABBABLE_FILTER);
shape = space.AddShape(new cpSegmentShape(staticBody, new cpVect(-256, 16), new cpVect(-192, 0), 2.0f));
shape.SetElasticity(0.0f);
shape.SetElasticity(0.0f);
shape.SetFriction(0.5f);
shape.SetFilter(NOT_GRABBABLE_FILTER);
shape = space.AddShape(new cpSegmentShape(staticBody, new cpVect(-192, 0), new cpVect(-192, -64), 2.0f));
shape.SetElasticity(0.0f);
shape.SetFriction(0.5f);
shape.SetFilter(NOT_GRABBABLE_FILTER);
shape = space.AddShape(new cpSegmentShape(staticBody, new cpVect(-128, -64), new cpVect(-128, 144), 2.0f));
shape.SetElasticity(0.0f);
shape.SetFriction(0.5f);
shape.SetFilter(NOT_GRABBABLE_FILTER);
shape = space.AddShape(new cpSegmentShape(staticBody, new cpVect(-192, 80), new cpVect(-192, 176), 2.0f));
shape.SetElasticity(0.0f);
shape.SetFriction(0.5f);
shape.SetFilter(NOT_GRABBABLE_FILTER);
shape = space.AddShape(new cpSegmentShape(staticBody, new cpVect(-192, 176), new cpVect(-128, 240), 2.0f));
shape.SetElasticity(0.0f);
shape.SetFriction(0.5f);
shape.SetFilter(NOT_GRABBABLE_FILTER);
shape = space.AddShape(new cpSegmentShape(staticBody, new cpVect(-128, 144), new cpVect(192, 64), 2.0f));
shape.SetElasticity(0.0f);
shape.SetFriction(0.5f);
shape.SetFilter(NOT_GRABBABLE_FILTER);
cpVect[] verts = new cpVect[] {
new cpVect(-30, -80),
new cpVect(-30, 80),
new cpVect(30, 64),
new cpVect(30, -80),
};
cpBody plunger = space.AddBody(new cpBody(1.0f, cp.Infinity));
plunger.SetPosition(new cpVect(-160, -80));
shape = space.AddShape(new cpPolyShape(plunger, 4, verts, cpTransform.Identity, 0));
shape.SetElasticity(1.0f);
shape.SetFriction(0.5f);
shape.SetFilter(new cpShapeFilter(cp.NO_GROUP, 1, 1));
balls = new cpBody[numBalls];
// add balls to hopper
for (int i = 0; i < numBalls; i++)
{
balls[i] = add_ball(space, new cpVect(-224 + i, 80 + 64 * i));
}
// add small gear
cpBody smallGear = space.AddBody(new cpBody(10.0f, cp.MomentForCircle(10.0f, 80, 0, cpVect.Zero)));
smallGear.SetPosition(new cpVect(-160, -160));
smallGear.SetAngle(-cp.M_PI_2);
shape = space.AddShape(new cpCircleShape(smallGear, 80.0f, cpVect.Zero));
shape.SetFilter(cpShape.FILTER_NONE);
space.AddConstraint(new cpPivotJoint(staticBody, smallGear, new cpVect(-160, -160), cpVect.Zero));
// add big gear
cpBody bigGear = space.AddBody(new cpBody(40.0f, cp.MomentForCircle(40.0f, 160, 0, cpVect.Zero)));
bigGear.SetPosition(new cpVect(80, -160));
bigGear.SetAngle(cp.M_PI_2);
shape = space.AddShape(new cpCircleShape(bigGear, 160.0f, cpVect.Zero));
shape.SetFilter(cpShape.FILTER_NONE);
space.AddConstraint(new cpPivotJoint(staticBody, bigGear, new cpVect(80, -160), cpVect.Zero));
// connect the plunger to the small gear.
space.AddConstraint(new cpPinJoint(smallGear, plunger, new cpVect(80, 0), new cpVect(0, 0)));
// connect the gears.
space.AddConstraint(new cpGearJoint(smallGear, bigGear, -cp.M_PI_2, -2.0f));
// feeder mechanism
float bottom = -300.0f;
float top = 32.0f;
cpBody feeder = space.AddBody(new cpBody(1.0f, cp.MomentForSegment(1.0f, new cpVect(-224.0f, bottom), new cpVect(-224.0f, top), 0.0f)));
feeder.SetPosition(new cpVect(-224, (bottom + top) / 2.0f));
float len = top - bottom;
shape = space.AddShape(new cpSegmentShape(feeder, new cpVect(0.0f, len / 2.0f), new cpVect(0.0f, -len / 2.0f), 20.0f));
shape.SetFilter(GRAB_FILTER);
space.AddConstraint(new cpPivotJoint(staticBody, feeder, new cpVect(-224.0f, bottom), new cpVect(0.0f, -len / 2.0f)));
cpVect anchr = feeder.WorldToLocal(new cpVect(-224.0f, -160.0f));
space.AddConstraint(new cpPinJoint(feeder, smallGear, anchr, new cpVect(0.0f, 80.0f)));
// motorize the second gear
motor = space.AddConstraint(new cpSimpleMotor(staticBody, bigGear, 3.0f));
Schedule();
}
