public void DrawConstraint(cpConstraint constraint)
{
System.Type klass = constraint.GetType();
if (klass == typeof(cpPinJoint))
{
Draw((cpPinJoint)constraint);
}
else if (klass == typeof(cpSlideJoint))
{
Draw((cpSlideJoint)constraint);
}
else if (klass == typeof(cpGrooveJoint))
{
Draw((cpGrooveJoint)constraint);
}
else if (klass == typeof(cpDampedSpring))
{
Draw((cpDampedSpring)constraint);
}
else if (klass == typeof(cpDampedRotarySpring))
{
Draw((cpDampedRotarySpring)constraint);
}
else if (klass == typeof(cpSimpleMotor))
{
Draw((cpSimpleMotor)constraint);
}
}
public void PostStepRemoveJoint(object key, object data)
{
// printf("Removing joint for %p\n", data);
cpConstraint joint = (cpConstraint)key;
space.RemoveConstraint(joint);
}
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 void PostStepAddJoint(object key, object data)
{
// printf("Adding joint for %p\n", data);
cpConstraint joint = (cpConstraint)key;
space.AddConstraint(joint);
}
public void Add(cpConstraint joint)
{
if (joint == null)
{
return;
}
_joints.Add(joint);
_map.Add(joint, this);
}
void BreakableJointPostSolve(cpConstraint joint)
{
float dt = space.GetCurrentTimeStep();
// Convert the impulse to a force by dividing it by the timestep.
float force = joint.GetImpulse() / dt;
float maxForce = joint.GetMaxForce();// maxForce;
// If the force is almost as big as the joint's max force, break it.
if (force > 0.9 * maxForce)
{
space.AddPostStepCallback(
(s, o1, o2) => BreakablejointPostStepRemove(o1 as cpConstraint),
joint, null
);
}
}
public override void Update(float dt)
{
base.Update(dt);
if (CCMouse.Instance.HasPosition)
{
// Set the first anchor point (the one attached to the static body) of the dolly servo to the mouse's x position.
dollyServo.SetAnchorA(new cpVect(CCMouse.Instance.Position.x, 100));
// Set the max length of the winch servo to match the mouse's height.
winchServo.SetMax(cp.cpfmax(100 - CCMouse.Instance.Position.y, 50));
if (hookJoint != null && CCMouse.Instance.rightclick)
{
space.RemoveConstraint(hookJoint);
//cpConstraintFree(hookJoint);
hookJoint = null;
}
}
space.Step(dt);
}
public void Remove(cpConstraint joint)
{
if (joint == null)
{
return;
}
var it = _joints.Find((c) => c == joint);
if (it != null)
{
_joints.Remove(it);
CCPhysicsJointInfo tmp;
if (_map.TryGetValue(joint, out tmp))
{
_map.Remove(joint);
}
}
}
public void StickySeparate(cpArbiter arb, object data)
{
cpConstraint joint = (cpConstraint)arb.GetUserData();
if (joint != null)
{
// The joint won't be removed until the step is done.
// Need to disable it so that it won't apply itself.
// Setting the force to 0 will do just that
joint.SetMaxForce(0.0f);
space.AddPostStepCallback((s1, o1, o2) =>
PostStepRemoveJoint(o1, o2), joint, null
);
// Perform the removal in a post-step() callback.
// NULL out the reference to the joint.
// Not required, but it's a good practice.
arb.SetUserData(null);
}
}
public override void OnEnter()
{
base.OnEnter();
space.SetIterations(30);
space.SetGravity(new cpVect(0, -100));
space.SetSleepTimeThreshold(0.5f);
cpBody body, staticBody = space.GetStaticBody();
cpShape shape;
// Create segments around the edge of the screen.
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);
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);
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);
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);
float mass = 1;
float width = 20;
float height = 30;
float spacing = width * 0.3f;
// Add lots of boxes.
for (int i = 0; i < CHAIN_COUNT; i++)
{
cpBody prev = null;
for (int j = 0; j < LINK_COUNT; j++)
{
cpVect pos = new cpVect(40 * (i - (CHAIN_COUNT - 1) / 2.0f), 240 - (j + 0.5f) * height - (j + 1) * spacing);
body = space.AddBody(new cpBody(mass, cp.MomentForBox(mass, width, height)));
body.SetPosition(pos);
shape = space.AddShape(new cpSegmentShape(body, new cpVect(0, (height - width) / 2.0f), new cpVect(0, (width - height) / 2.0f), width / 2.0f));
shape.SetFriction(0.8f);
float breakingForce = 80000;
cpConstraint constraint = null;
if (prev == null)
{
constraint = space.AddConstraint(new cpSlideJoint(body, staticBody, new cpVect(0, height / 2), new cpVect(pos.x, 240), 0, spacing));
}
else
{
constraint = space.AddConstraint(new cpSlideJoint(body, prev, new cpVect(0, height / 2), new cpVect(0, -height / 2), 0, spacing));
}
constraint.SetMaxForce(breakingForce);
constraint.SetPostSolveFunc(s => BreakableJointPostSolve(constraint));
constraint.SetCollideBodies(false);
//cpConstraintSetPostSolveFunc(constraint, BreakableJointPostSolve);
prev = body;
}
}
float radius = 15.0f;
body = space.AddBody(new cpBody(10.0f, cp.MomentForCircle(10.0f, 0.0f, radius, cpVect.Zero)));
body.SetPosition(new cpVect(0, -240 + radius + 5));
body.SetVelocity(new cpVect(0, 300));
shape = space.AddShape(new cpCircleShape(body, radius, cpVect.Zero));
shape.SetElasticity(0.0f);
shape.SetFriction(0.9f);;
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();
}
public override void OnEnter()
{
base.OnEnter();
SetSubTitle("Use the mouse to drive the tank, it will follow the cursor.");
//Position = new CCPoint(240, 170);
space.SetIterations(10);
space.SetSleepTimeThreshold(0.5f);
cpBody staticBody = space.GetStaticBody();
cpShape shape;
// Create segments around the edge of the screen.
shape = space.AddShape(new cpSegmentShape(staticBody, new cpVect(-320, -240), new cpVect(-320, 240), 0));
shape.SetElasticity(1);
shape.SetFriction(1);
shape.SetFilter(NOT_GRABBABLE_FILTER);
shape = space.AddShape(new cpSegmentShape(staticBody, new cpVect(320, -240), new cpVect(320, 240), 0));
shape.SetElasticity(1);
shape.SetFriction(1);
shape.SetFilter(NOT_GRABBABLE_FILTER);
shape = space.AddShape(new cpSegmentShape(staticBody, new cpVect(-320, -240), new cpVect(320, -240), 0));
shape.SetElasticity(1);
shape.SetFriction(1);
shape.SetFilter(NOT_GRABBABLE_FILTER);
shape = space.AddShape(new cpSegmentShape(staticBody, new cpVect(-320, 240), new cpVect(320, 240), 0));
shape.SetElasticity(1);
shape.SetFriction(1);
shape.SetFilter(NOT_GRABBABLE_FILTER);
for (int i = 0; i < 50; i++)
{
cpBody body = add_box(20, 1);
cpConstraint pivot = space.AddConstraint(new cpPivotJoint(staticBody, body, cpVect.Zero, cpVect.Zero));
pivot.SetMaxBias(0); // disable joint correction
pivot.SetMaxForce(1000); // emulate linear friction
cpConstraint gear = space.AddConstraint(new cpGearJoint(staticBody, body, 0, 1));
gear.SetMaxBias(0); // disable joint correction
gear.SetMaxForce(5000); // emulate linear friction
}
// We joint the tank to the control body and control the tank indirectly by modifying the control body.
tankControlBody = space.AddBody(cpBody.NewKinematic());
tankBody = add_box(30, 10);
cpConstraint pivot2 = space.AddConstraint(new cpPivotJoint(tankControlBody, tankBody, cpVect.Zero, cpVect.Zero));
pivot2.SetMaxBias(0); // disable joint correction
pivot2.SetMaxForce(10000); // emulate linear friction
cpConstraint gears = space.AddConstraint(new cpGearJoint(tankControlBody, tankBody, 0, 1));
gears.SetErrorBias(0); // attempt to fully correct the joint each step
gears.SetMaxBias(1.2f); // but limit it's angular correction rate
gears.SetMaxForce(5000); // emulate angular friction
Schedule();
}
public override void OnEnter()
{
base.OnEnter();
SetSubTitle("Use the arrow keys to control the machine.");
space.SetIterations(20);
space.SetGravity(new cpVect(0, -500));
cpBody staticBody = space.GetStaticBody();
cpShape shape;
cpVect a, b;
shape = space.AddShape(new cpSegmentShape(staticBody, new cpVect(-320, 240), new cpVect(320, 240), 0.0f));
shape.SetElasticity(1.0f);
shape.SetFriction(1.0f);
// Create segments around the edge of the screen.
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);
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);
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);
float offset = 30.0f;
// make chassis
float chassis_mass = 2.0f;
a = new cpVect(-offset, 0.0f);
b = new cpVect(offset, 0.0f);
cpBody chassis = space.AddBody(new cpBody(chassis_mass, cp.MomentForSegment(chassis_mass, a, b, 0.0f)));
shape = space.AddShape(new cpSegmentShape(chassis, a, b, seg_radius));
shape.SetFilter(new cpShapeFilter(1, cp.ALL_CATEGORIES, cp.ALL_CATEGORIES));
// make crank
float crank_mass = 1.0f;
float crank_radius = 13.0f;
cpBody crank = space.AddBody(new cpBody(crank_mass, cp.MomentForCircle(crank_mass, crank_radius, 0.0f, cpVect.Zero)));
shape = space.AddShape(new cpCircleShape(crank, crank_radius, cpVect.Zero));
shape.SetFilter(new cpShapeFilter(1, cp.ALL_CATEGORIES, cp.ALL_CATEGORIES));
space.AddConstraint(new cpPivotJoint(chassis, crank, cpVect.Zero, cpVect.Zero));
float side = 30.0f;
int num_legs = 2;
for (int i = 0; i < num_legs; i++)
{
make_leg(side, offset, chassis, crank, cpVect.cpvmult(cpVect.cpvforangle((float)(2 * i + 0) / (float)num_legs * ((float)Math.PI)), crank_radius));
make_leg(side, -offset, chassis, crank, cpVect.cpvmult(cpVect.cpvforangle((float)(2 * i + 1) / (float)num_legs * ((float)Math.PI)), crank_radius));
}
motor = space.AddConstraint(new cpSimpleMotor(chassis, crank, 6.0f));
Schedule();
}
cpBodyRemoveConstraint(cpBody body, cpConstraint constraint)
{
body.constraintList = filterConstraints(body.constraintList, body, constraint);
}
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 BreakablejointPostStepRemove(cpConstraint joint)
{
space.RemoveConstraint(joint);
}
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()));
}
getImpulse(cpConstraint joint)
{
return System.Math.Abs(((cpSlideJoint *)joint).jnAcc);
}
filterConstraints(cpConstraint node, cpBody body, cpConstraint filter)
{
if(node == filter){
return cpConstraintNext(node, body);
} else if(node.a == body){
node.next_a = filterConstraints(node.next_a, body, filter);
} else {
node.next_b = filterConstraints(node.next_b, body, filter);
}
return node;
}
