cpBBWrapVect(cpBB bb, cpVect v)
{
double ix = System.Math.Abs(bb.r - bb.l);
double modx = System.Math.Mod(v.x - bb.l, ix);
double x = (modx > 0.0f) ? modx : modx + ix;
double iy = System.Math.Abs(bb.t - bb.b);
double mody = System.Math.Mod(v.y - bb.b, iy);
double y = (mody > 0.0f) ? mody : mody + iy;
return cpv(x + bb.l, y + bb.b);
}
cpContactInit(cpContact con, cpVect p, cpVect n, double dist, cpHashValue hash)
{
con.p = p;
con.n = n;
con.dist = dist;
con.jnAcc = 0.0f;
con.jtAcc = 0.0f;
con.jBias = 0.0f;
con.hash = hash;
return con;
}
public override void Update(float delta)
{
if (_dirty)
{
float factorX = _newScaleX / _scaleX;
float factorY = _newScaleY / _scaleY;
foreach (cpSegmentShape shape in _info.GetShapes())
{
cpVect a = shape.GetA();
a.x *= factorX;
a.y *= factorY;
cpVect b = shape.GetB();
b.x *= factorX;
b.y *= factorY;
shape.SetEndpoints(a, b);
}
}
base.Update(delta);
}
public virtual void OnTouchesBegan(List <CCTouch> touches, CCEvent e)
{
var touch = touches.FirstOrDefault();
CCMouse.Instance.UpdatePositionLocation(touch.LocationOnScreen, this); //Update mouse mouse position
CCMouse.Instance.UpdateBodyPosition();
CCMouse.Instance.OnTouchBegan(touch, this);
if (!CCMouse.Instance.HasBodyJoined)
{
float radius = 5.0f;
cpPointQueryInfo info = null;
var shape = space.PointQueryNearest(
CCMouse.Instance.Position, radius, GRAB_FILTER, ref info);
if (shape != null)
{
cpVect nearest = (info.distance > 0.0d ? info.point : CCMouse.Instance.Position);
CCMouse.Instance.mouseJoint = new cpPivotJoint(CCMouse.Instance.mouseBody, shape.body, cpVect.Zero, shape.body.WorldToLocal(nearest));
CCMouse.Instance.mouseJoint.SetMaxForce(50000);
CCMouse.Instance.mouseJoint.SetErrorBias(cp.cpfpow(1f - 0.15f, 60f));
space.AddConstraint(CCMouse.Instance.mouseJoint);
return;
}
}
//Arrastramos el logo
if (logo.BoundingBox.ContainsPoint(CCMouse.Instance.PositionParentSpace))
{
logo.MoveOffset = touch.LocationOnScreen - logo.Position;
CCMouse.Instance.IsDragBlocked = logo.IsMoving = true;
return;
}
}
static public cpSpace BouncyTerrainHexagons_500(cpSpace space)
{
SetSubTitle("BouncyTerrainHexagons 500");
//cpSpace space = BENCH_SPACE_NEW();
space.SetIterations(10);
cpVect offset = new cpVect(-320, -240);
for (int i = 0; i < (bouncy_terrain_verts.Length - 1); i++)
{
cpVect a = bouncy_terrain_verts[i], b = bouncy_terrain_verts[i + 1];
cpShape shape = space.AddShape(new cpSegmentShape(space.GetStaticBody(), cpVect.cpvadd(a, offset), cpVect.cpvadd(b, offset), 0.0f));
shape.SetElasticity(1.0f);
}
float radius = 5.0f;
cpVect[] hexagon = new cpVect[6];
for (int i = 0; i < 6; i++)
{
float angle = -(float)Math.PI * 2.0f * i / 6.0f;
hexagon[i] = cpVect.cpvmult(cpVect.cpv(cp.cpfcos(angle), cp.cpfsin(angle)), radius - bevel);
}
for (int i = 0; i < 500; i++)
{
float mass = radius * radius;
cpBody body = space.AddBody(new cpBody(mass, cp.MomentForPoly(mass, 6, hexagon, cpVect.Zero, 0.0f)));
body.SetPosition(cpVect.cpvadd(cpVect.cpvmult(cp.frand_unit_circle(), 130.0f), cpVect.Zero));
body.SetVelocity(cpVect.cpvmult(cp.frand_unit_circle(), 50.0f));
cpShape shape = space.AddShape(new cpPolyShape(body, 6, hexagon, cpTransform.Identity, bevel));
shape.SetElasticity(1.0f);
}
return(space);
}
public void Update(float delta)
{
if (_node != null)
{
CCNode parent = _node.Parent;
CCScene scene = _world.Scene;
var vec = new cpVect(Position.X, Position.Y);
CCPoint parentPosition = new CCPoint((float)vec.x, (float)vec.y); //ConvertToNodeSpace(scene.ConvertToWorldSpace(new CCPoint((float)vec.x, (float)vec.y)));
cpVect position = parent != scene ?
new cpVect(parentPosition.X, parentPosition.Y)
: vec;
//->convertToNodeSpace(scene->convertToWorldSpace(getPosition())) : getPosition();
float rotation = Rotation;
for (; parent != scene; parent = parent.Parent)
{
rotation -= parent.RotationX;
}
_positionResetTag = true;
_rotationResetTag = true;
_node.Position = new CCPoint(position.x, position.y);
_node.Rotation = (float)rotation;
_positionResetTag = false;
_rotationResetTag = false;
// damping compute
if (_isDamping && _dynamic && !IsResting())
{
_info.Body.v.x *= cp.cpfclamp(1.0f - delta * _linearDamping, 0.0f, 1.0f);
_info.Body.v.y *= cp.cpfclamp(1.0f - delta * _linearDamping, 0.0f, 1.0f);
_info.Body.w *= cp.cpfclamp(1.0f - delta * _angularDamping, 0.0f, 1.0f);
}
}
}
public override void PreStep(float dt)
{
cpBody a = this.a;
cpBody b = this.b;
this.r1 = cpTransform.Vect(a.transform, cpVect.cpvsub(this.anchorA, a.cog));
this.r2 = cpTransform.Vect(b.transform, cpVect.cpvsub(this.anchorB, b.cog));
cpVect delta = cpVect.cpvsub(cpVect.cpvadd(b.p, this.r2), cpVect.cpvadd(a.p, this.r1));
float dist = cpVect.cpvlength(delta);
float pdist = 0.0f;
if (dist > this.max)
{
pdist = dist - this.max;
this.n = cpVect.cpvnormalize(delta);
}
else if (dist < this.min)
{
pdist = this.min - dist;
this.n = cpVect.cpvneg(cpVect.cpvnormalize(delta));
}
else
{
this.n = cpVect.Zero;
this.jnAcc = 0.0f;
}
// calculate mass normal
this.nMass = 1.0f / cp.k_scalar(a, b, this.r1, this.r2, this.n);
// calculate bias velocity
float maxBias = this.maxBias;
this.bias = cp.cpfclamp(-cp.bias_coef(this.errorBias, dt) * pdist / dt, -maxBias, maxBias);
}
static public cpSpace ComplexTerrainHexagons_1000(cpSpace space)
{
SetSubTitle("ComplexTerrainHexagons_1000");
space.SetIterations(10);
space.SetGravity(new cpVect(0, -100));
space.SetCollisionSlop(0.5f);
cpVect offset = new cpVect(-320, -240);
for (int i = 0; i < (complex_terrain_verts.Length - 1); i++)
{
cpVect a = complex_terrain_verts[i], b = complex_terrain_verts[i + 1];
space.AddShape(new cpSegmentShape(space.GetStaticBody(), cpVect.cpvadd(a, offset), cpVect.cpvadd(b, offset), 0.0f));
}
float radius = 5.0f;
cpVect[] hexagon = new cpVect[6];
for (int i = 0; i < 6; i++)
{
float angle = -(float)Math.PI * 2.0f * i / 6.0f;
hexagon[i] = cpVect.cpvmult(cpVect.cpv(cp.cpfcos(angle), cp.cpfsin(angle)), radius - bevel);
}
for (int i = 0; i < 1000; i++)
{
float mass = radius * radius;
cpBody body = space.AddBody(new cpBody(mass, cp.MomentForPoly(mass, 6, hexagon, cpVect.Zero, 0.0f)));
body.SetPosition(cpVect.cpvadd(cpVect.cpvmult(cp.frand_unit_circle(), 180.0f), new cpVect(0.0f, 300.0f)));
cpShape shape = space.AddShape(new cpPolyShape(body, 6, hexagon, cpTransform.Identity, bevel));
shape.SetElasticity(0.0f); shape.SetFriction(0.0f);
}
return(space);
}
public override void Update(float dt)
{
base.Update(dt);
space.Step(dt);
bool lastClickState = false;
sliceStart = cpVect.Zero;
// Annoying state tracking code that you wouldn't need
// in a real event driven system.
if (CCMouse.Instance.rightclick != lastClickState)
{
if (CCMouse.Instance.rightclick)
{
// MouseDown
sliceStart = CCMouse.Instance.Position;
}
else
{
// MouseUp
SliceContext context = new SliceContext(sliceStart, CCMouse.Instance.Position, space);
space.SegmentQuery(sliceStart,
CCMouse.Instance.Position, 0, GRAB_FILTER, (shape, v1, v2, d, o) =>
SliceQuery(shape, d, v1, (SliceContext)o),
context);
}
lastClickState = CCMouse.Instance.rightclick;
}
write = CCMouse.Instance.rightclick;
}
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 ClosestPoints(cpVect a, cpVect b, cpVect n, float d, ulong id)
{
this.a = a;
this.b = b;
this.n = n;
this.d = d;
this.id = id;
}
/** Applies a continuous force to body. */
internal void ApplyImpulse(cpVect impulse, cpVect offset)
{
// cpBodyApplyImpulse(_info->getBody(), PhysicsHelper::point2cpv(impulse), PhysicsHelper::point2cpv(offset));
_info.Body.ApplyImpulse(impulse, offset);
}
/** Applies a immediate force to body. */
internal void ApplyForce(cpVect force)
{
ApplyForce(force, cpVect.Zero);
}
public void SetCenterOfGravity(cpVect gravity)
{
_info.Body.SetCenterOfGravity(gravity);
}
/** convert the world point to local */
internal cpVect World2Local(cpVect point)
{
return(_info.Body.WorldToLocal(point));
//return PhysicsHelper::cpv2point(cpBodyWorld2Local(_info->getBody(), PhysicsHelper::point2cpv(point)));
}
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 MinkowskiPoint(cpVect a, cpVect b, cpVect ab, ulong id)
{
this.a = a;
this.b = b;
this.ab = ab;
this.id = id;
}
public static Edge SupportEdgeForSegment(cpSegmentShape seg, cpVect n)
{
ulong hashid = seg.hashid;
Edge edge;
if (cpVect.cpvdot(seg.tn, n) > 0.0f)
{
edge = new Edge(
new EdgePoint(seg.ta, cp.CP_HASH_PAIR(seg.hashid, 0)),
new EdgePoint(seg.tb, cp.CP_HASH_PAIR(seg.hashid, 1)),
seg.r, seg.tn);
}
else
{
edge = new Edge(
new EdgePoint(seg.tb, cp.CP_HASH_PAIR(seg.hashid, 1)),
new EdgePoint(seg.ta, cp.CP_HASH_PAIR(seg.hashid, 0)),
seg.r, cpVect.cpvneg(seg.tn)
);
}
return edge;
}
public static SupportPoint SegmentSupportPoint(cpSegmentShape seg, cpVect n)
{
if (cpVect.cpvdot(seg.ta, n) > cpVect.cpvdot(seg.tb, n))
return new SupportPoint(seg.ta, 0);
else
return new SupportPoint(seg.tb, 1);
}
public static SupportPoint PolySupportPoint(cpPolyShape poly, cpVect n)
{
ulong i = PolySupportPointIndex(poly.Count, poly.planes, n);
return new SupportPoint(poly.planes[i].v0, i);
}
public static SupportPoint CircleSupportPoint(cpCircleShape circle, cpVect n)
{
return new SupportPoint(circle.tc, 0);
}
public SupportPoint(cpVect p, ulong id)
{
this.p = p;
this.id = id;
}
public static MinkowskiPoint Support(ref SupportContext ctx, cpVect n)
{
SupportPoint a = ctx.func1(ctx.shape1, cpVect.cpvneg(n));
SupportPoint b = ctx.func2(ctx.shape2, n);
return MinkowskiPointNew(a, b);
}
cpSlideJointNew(cpBody a, cpBody b, cpVect anchr1, cpVect anchr2, double min, double max)
{
return (cpConstraint )cpSlideJointInit(cpSlideJointAlloc(), a, b, anchr1, anchr2, min, max);
}
public override void SetAnchorB(cpVect anchorB)
{
ActivateBodies();
this.anchorB = anchorB;
}
public cpBall(cpBody body, float radius, cpVect offset)
: base(body, radius, offset)
{
}
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("Right click to make pentagons static/dynamic.");
space.SetIterations(5);
space.SetGravity(new cpVect(0, -100));
cpBody body, staticBody = space.GetStaticBody();
cpShape shape;
// Vertexes for a triangle shape.
cpVect[] tris = new cpVect[] {
new cpVect(-15, -15),
new cpVect(0, 10),
new cpVect(15, -15),
};
// Create the static triangles.
for (int i = 0; i < 9; i++)
{
for (int j = 0; j < 6; j++)
{
float stagger = (j % 2) * 40;
cpVect offset = new cpVect(i * 80 - 320 + stagger, j * 70 - 240);
shape = space.AddShape(new cpPolyShape(staticBody, 3, tris, cpTransform.Translate(offset), 0));
shape.SetElasticity(1.0f);
shape.SetFriction(1.0f);
shape.SetFilter(NOT_GRABBABLE_FILTER);
}
}
cpVect[] verts = new cpVect[NUM_VERTS];
for (int i = 0; i < NUM_VERTS; i++)
{
float angle = -2 * cp.M_PI * i / NUM_VERTS;
verts[i] = cpVect.cpv(10 * cp.cpfcos(angle), 10 * cp.cpfsin(angle));
}
pentagon_mass = 1;
pentagon_moment = cp.MomentForPoly(1.0f, NUM_VERTS, verts, cpVect.Zero, 0.0f);
// Add lots of pentagons.
for (int i = 0; i < 100; i++)
{
body = space.AddBody(new cpBody(pentagon_mass, pentagon_moment));
body.SetPosition(
new cpVect(
RandomHelper.next(-300, 300),
RandomHelper.next(350, 1000)));
shape = space.AddShape(new cpPolyShape(body, NUM_VERTS, verts, cpTransform.Identity, 0.0f));
shape.SetElasticity(0.0f);
shape.SetFriction(0.4f);
}
Schedule();
}
protected override void OnAwake()
{
base.OnAwake();
Vector2 pos = this.transform.position;//static body(0,0) should add postion , Dynamic use Rigidbody position as parent
XRigidbody2D xRigidbody2D = this.GetComponent <XRigidbody2D>();
if (xRigidbody2D != null)
{
if (xRigidbody2D.mBodyType != cpBodyType.STATIC)
{
xRigidbody2D.Init();
mRigidbody2D = xRigidbody2D.Rigidbody2D;
pos = Vector2.zero;
}
else
{
mRigidbody2D = XSpaceManager.Instance.Space.GetStaticBody();
}
}
else
{
//静态的，不能移动
mRigidbody2D = XSpaceManager.Instance.Space.GetStaticBody();
}
//local
Vector2 left, bottom, right, top;
Quaternion rotation;
switch (mShapeType)
{
case ColliderType.Segment:
float angle = Vector2.Angle(this.mEnd - this.mStart, Vector2.right);
rotation = Quaternion.AngleAxis(angle + this.transform.eulerAngles.z, Vector3.forward);
left = rotation * new Vector2(this.mStart.x, this.mStart.y - this.mRadius);
bottom = rotation * new Vector2(this.mEnd.x, this.mEnd.y - this.mRadius);
right = rotation * new Vector2(this.mEnd.x, this.mEnd.y + this.mRadius);
top = rotation * new Vector2(this.mStart.x, this.mStart.y + this.mRadius);
Vector2 start = (Vector2)pos + (left + top) / 2;
Vector2 end = (Vector2)pos + (bottom + right) / 2;
mCollider2D = new cpSegmentShape(mRigidbody2D, new cpVect(start.x, start.y) * XSpaceManager.PixelsPerUnit, new cpVect(end.x, end.y) * XSpaceManager.PixelsPerUnit, mRadius * XSpaceManager.PixelsPerUnit);
break;
case ColliderType.Circle:
mCollider2D = new cpCircleShape(mRigidbody2D, mRadius * XSpaceManager.PixelsPerUnit, new cpVect(pos.x + mCenter.x, pos.y + mCenter.y) * XSpaceManager.PixelsPerUnit);
break;
case ColliderType.Box:
mCollider2D = cpPolyShape.BoxShape2(mRigidbody2D, new cpBB((pos.x + mCenter.x - mSize.x * this.transform.localScale.x / 2) * XSpaceManager.PixelsPerUnit, (pos.y + mCenter.y - mSize.y * this.transform.localScale.y / 2) * XSpaceManager.PixelsPerUnit, (pos.x + mCenter.x + mSize.x * this.transform.localScale.x / 2) * XSpaceManager.PixelsPerUnit, (pos.y + mCenter.y + mSize.y * this.transform.localScale.y / 2) * XSpaceManager.PixelsPerUnit), mRadius * XSpaceManager.PixelsPerUnit);
break;
case ColliderType.Polygon:
int count = mVects.Length;
cpVect [] vts = new cpVect [mVects.Length];
for (int i = 0; i < count; i++)
{
vts[i] = cpVect.Zero;
vts[i].x = (pos.x + mVects[i].x) * XSpaceManager.PixelsPerUnit;
vts[i].y = (pos.y + mVects[i].y) * XSpaceManager.PixelsPerUnit;
}
mCollider2D = new cpPolyShape(mRigidbody2D, mVects.Length, vts, mRadius * XSpaceManager.PixelsPerUnit);
break;
//case cpShapeType.NumShapes:
// break;
}
mCollider2D.SetSensor(mTrigger);
mCollider2D.SetElasticity(mElasticity);
mCollider2D.SetFriction(mFriction);
cpShapeFilter filter = new cpShapeFilter(mGroup, (int)mCategory, (int)mMask);
mCollider2D.SetFilter(filter);
}
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();
}
/** convert the local point to world */
internal cpVect Local2World(cpVect point)
{
return(_info.Body.LocalToWorld(point));
}
public WorleyContex(int seed, float cellSize, int width, int height, cpBB bb, cpVect focus)
{
// TODO: Complete member initialization
this.seed = seed;
this.cellSize = cellSize;
this.width = width;
this.height = height;
this.bb = bb;
this.focus = focus;
}
public Edge(EdgePoint a, EdgePoint b, float r, cpVect n)
{
this.a = a;
this.b = b;
this.r = r;
this.n = n;
}
//TODO: This conversion methods don't be necesary, Cocosharp works with cpVect
//Because there are 2 physics engine Vec2 is a intermedial class to use cpVect and b2Vect or any other engine
//public static cpVect cpv2point(cpVect vec) { return new cpVect(vec.x, vec.y); }
// public static cpVect point2cpv(cpVect point) { return new cpVect(point.x, point.y); }
public static CCSize cpv2size(cpVect vec)
{
return(new CCSize((float)vec.x, (float)vec.y));
}
/** Applies a continuous force to body. */
internal void ApplyImpulse(cpVect impulse)
{
ApplyImpulse(impulse, cpVect.Zero);
}
public static Edge SupportEdgeForPoly(cpPolyShape poly, cpVect n)
{
ulong count = (ulong)poly.Count;
ulong i1 = cpCollision.PolySupportPointIndex(poly.Count, poly.planes, n);
// TODO get rid of mod eventually, very expensive on ARM
ulong i0 = (ulong)((i1 - 1 + count) % count);
ulong i2 = (ulong)((i1 + 1) % count);
cpSplittingPlane[] planes = poly.planes;
ulong hashid = poly.hashid;
if (cpVect.cpvdot(n, planes[i1].n) > cpVect.cpvdot(n, planes[i2].n))
{
Edge edge = new Edge(
new EdgePoint(planes[i0].v0, cp.CP_HASH_PAIR(hashid, i0)),
new EdgePoint(planes[i1].v0, cp.CP_HASH_PAIR(hashid, i1)),
poly.r, poly.planes[i1].n);
return edge;
}
else
{
Edge edge = new Edge(
new EdgePoint(planes[i1].v0, cp.CP_HASH_PAIR(hashid, i1)),
new EdgePoint(planes[i2].v0, cp.CP_HASH_PAIR(hashid, i2)),
poly.r, poly.planes[i2].n);
return edge;
}
}
/** get the angular velocity of a body at a world point */
internal cpVect GetVelocityAtWorldPoint(cpVect point)
{
return(_info.Body.GetVelocityAtWorldPoint(point));
}
public void ScaleIterator(cpBody body, cpArbiter arb, ref cpVect sum)
{
sum = cpVect.cpvadd(sum, arb.TotalImpulse());
}
cpSlideJointInit(cpSlideJoint *joint, cpBody a, cpBody b, cpVect anchr1, cpVect anchr2, double min, double max)
{
cpConstraintInit((cpConstraint )joint, &klass, a, b);
joint.anchr1 = anchr1;
joint.anchr2 = anchr2;
joint.min = min;
joint.max = max;
joint.jnAcc = 0.0f;
return joint;
}
public cpContact(cpVect r1, cpVect r2, ulong hash)
{
Init(r1, r2, hash);
}
public override void SetAnchorA(cpVect anchorA)
{
ActivateBodies();
this.anchorA = anchorA;
}
public static Edge EdgeNew(cpVect va, cpVect vb, ulong ha, ulong hb, float r)
{
return new Edge(
new EdgePoint(va, ha),
new EdgePoint(vb, hb),
r,
cpVect.cpvnormalize(cpVect.cpvperp(cpVect.cpvsub(vb, va))));
}
public CCMouse()
{
mouseBody = cpBody.NewKinematic();
Position = cpVect.Zero;
}
public EdgePoint(cpVect p, ulong hash)
{
this.p = p;
this.hash = hash;
}
internal static CCPoint cpVectToCCPoint(cpVect vec)
{
return(new CCPoint((float)vec.x, (float)vec.y));
}
public CrushingContext(float magnitudeSum, cpVect vectorSum)
{
// TODO: Complete member initialization
this.magnitudeSum = magnitudeSum;
this.vectorSum = vectorSum;
}