public Motor(AbstractParticle attach, float radius, int color)
{
wheel = new WheelParticle(attach.PX, attach.PY - .01f, radius);
wheel.SetStyle(0, 0, Color.FromArgb(255 / 2, 255, 0, 0).ToArgb());
SpringConstraint axle = new SpringConstraint(wheel, attach);
_rimA = new CircleParticle(0, 0, 2, true);
_rimB = new CircleParticle(0, 0, 2, true);
_rimC = new CircleParticle(0, 0, 2, true);
wheel.Collidable = false;
_rimA.Collidable = false;
_rimB.Collidable = false;
_rimC.Collidable = false;
this.Particles.Add(_rimA);
this.Particles.Add(_rimB);
this.Particles.Add(_rimC);
this.Particles.Add(wheel);
this.Constraints.Add(axle);
this.color = color;
this.radius = radius;
// run it once to make sure the rim particles are in the right place
run();
}
public Rotator(int colA, int colB)
: base(false)
{
this.CollideInternal = true;
ctr = new Vector(555, 175);
rectComposite = new RectComposite(ctr, colA, colB);
addComposite(rectComposite);
circA = new CircleParticle(ctr.X, ctr.Y, 5, false, 1, 0.3f, 0);
circA.SetStyle(1, colA, colB);
this.Particles.Add(circA);
rectA = new RectangleParticle(555, 160, 10, 10, 0, false, 3, 0.3f, 0);
rectA.SetStyle(1, colA, colB);
this.Particles.Add(rectA);
connectorA = new SpringConstraint(rectComposite.PA, rectA, 1, false, 1, 1, false);
connectorA.SetStyle(2, colB);
this.Constraints.Add(connectorA);
rectB = new RectangleParticle(555, 190, 10, 10, 0, false, 3, 0.3f, 0);
rectB.SetStyle(1, colA, colB);
this.Particles.Add(rectB);
connectorB = new SpringConstraint(rectComposite.PC, rectB, 1, false, 1, 1, false);
connectorB.SetStyle(2, colB);
this.Constraints.Add(connectorB);
}
public Capsule(int colC)
: base(false)
{
CircleParticle capsuleP1 = new CircleParticle(300, 10, 14, false, 1.3f, 0.4f, 0);
capsuleP1.SetStyle(0, colC, colC);
this.Particles.Add(capsuleP1);
CircleParticle capsuleP2 = new CircleParticle(325, 35, 14, false, 1.3f, 0.4f, 0);
capsuleP2.SetStyle(0, colC, colC);
this.Particles.Add(capsuleP2);
SpringConstraint capsule = new SpringConstraint(capsuleP1, capsuleP2, 1, true, 24, 1, false);
capsule.SetStyle(0, colC, colC);
this.Constraints.Add(capsule);
}
public Car(int colC, int colE)
: base(false)
{
wheelParticleA = new WheelParticle(140, 10, 14, false, 2, 0.3f, 0, 1);
wheelParticleA.SetStyle(1, colC, colE);
this.Particles.Add(wheelParticleA);
wheelParticleB = new WheelParticle(200, 10, 14, false, 2, 0.3f, 0, 1);
wheelParticleB.SetStyle(1, colC, colE);
this.Particles.Add(wheelParticleB);
SpringConstraint wheelConnector = new SpringConstraint(wheelParticleA, wheelParticleB,
0.5f, true, 8, 1, false);
wheelConnector.SetStyle(1, colC, colE);
this.Constraints.Add(wheelConnector);
}
public SpringConstraintParticle(AbstractParticle p1, AbstractParticle p2, SpringConstraint p,
float rectHeight, float rectScale, bool scaleToLength)
: base(0, 0, 0, 0, 0, false, 1, 0.3f, 0)
{
this.p1 = p1;
this.p2 = p2;
lambda = new Vector(0, 0);
avgVelocity = new Vector(0, 0);
parent = p;
this.RectScale = rectScale;
this.RectHeight = rectHeight;
this.scaleToLength = scaleToLength;
this.FixedEndLimit = 0;
rca = new Vector(0, 0);
rcb = new Vector(0, 0);
}
public RectComposite(Vector ctr, int colA, int colB)
: base()
{
float rw = 75;
float rh = 18;
float rad = 4;
// going clockwise from left top..
cpA = new CircleParticle(ctr.X - rw / 2, ctr.Y - rh / 2, rad, true, 1, 0.3f, 0);
cpB = new CircleParticle(ctr.X + rw / 2, ctr.Y - rh / 2, rad, true, 1, 0.3f, 0);
cpC = new CircleParticle(ctr.X + rw / 2, ctr.Y + rh / 2, rad, true, 1, 0.3f, 0);
cpD = new CircleParticle(ctr.X - rw / 2, ctr.Y + rh / 2, rad, true, 1, 0.3f, 0);
cpA.SetStyle(0, 0, colA);
cpB.SetStyle(0, 0, colA);
cpC.SetStyle(0, 0, colA);
cpD.SetStyle(0, 0, colA);
sprA = new SpringConstraint(cpA, cpB, 0.5f, true, rad * 2, 1, false);
sprB = new SpringConstraint(cpB, cpC, 0.5f, true, rad * 2, 1, false);
sprC = new SpringConstraint(cpC, cpD, 0.5f, true, rad * 2, 1, false);
sprD = new SpringConstraint(cpD, cpA, 0.5f, true, rad * 2, 1, false);
sprA.SetStyle(0, 0, colA);
sprB.SetStyle(0, 0, colA);
sprC.SetStyle(0, 0, colA);
sprD.SetStyle(0, 0, colA);
this.Particles.Add(cpA);
this.Particles.Add(cpB);
this.Particles.Add(cpC);
this.Particles.Add(cpD);
this.Constraints.Add(sprA);
this.Constraints.Add(sprB);
this.Constraints.Add(sprC);
this.Constraints.Add(sprD);
}
public Leg(
float px,
float py,
int orientation,
float scale,
float lineWeight,
int lineColor,
int fillColor)
{
this.lineColor = lineColor;
this.lineWeight = lineWeight;
this.fillColor = fillColor;
// top triangle -- pa is the attach point to the body
float os = orientation * scale;
pa = new CircleParticle(px + 31 * os, py - 8 * scale, 1);
pb = new CircleParticle(px + 25 * os, py - 37 * scale, 1);
pc = new CircleParticle(px + 60 * os, py - 15 * scale, 1);
// bottom triangle particles -- pf is the foot
pd = new CircleParticle(px + 72 * os, py + 12 * scale, 1);
pe = new CircleParticle(px + 43 * os, py + 19 * scale, 1);
pf = new CircleParticle(px + 54 * os, py + 61 * scale, 2);
// strut attach point particle
ph = new CircleParticle(px, py, 3);
// top triangle constraints
SpringConstraint cAB = new SpringConstraint(pa,pb,1);
SpringConstraint cBC = new SpringConstraint(pb,pc,1);
SpringConstraint cCA = new SpringConstraint(pc,pa,1);
// middle leg constraints
SpringConstraint cCD = new SpringConstraint(pc,pd,1);
SpringConstraint cAE = new SpringConstraint(pa,pe,1);
// bottom leg constraints
SpringConstraint cDE = new SpringConstraint(pd,pe,1);
SpringConstraint cDF = new SpringConstraint(pd,pf,1);
SpringConstraint cEF = new SpringConstraint(pe,pf,1);
// cam constraints
SpringConstraint cBH = new SpringConstraint(pb,ph,1);
SpringConstraint cEH = new SpringConstraint(pe,ph,1);
this.Particles.Add(pa);
this.Particles.Add(pb);
this.Particles.Add(pc);
this.Particles.Add(pd);
this.Particles.Add(pe);
this.Particles.Add(pf);
this.Particles.Add(ph);
this.Constraints.Add(cAB);
this.Constraints.Add(cBC);
this.Constraints.Add(cCA);
this.Constraints.Add(cCD);
this.Constraints.Add(cAE);
this.Constraints.Add(cDE);
this.Constraints.Add(cDF);
this.Constraints.Add(cEF);
this.Constraints.Add(cBH);
this.Constraints.Add(cEH);
// for added efficiency, only test the feet (pf) for collision. these
// selective tweaks should always be considered for best performance.
pa.Collidable = false;
pb.Collidable = false;
pc.Collidable = false;
pd.Collidable = false;
pe.Collidable = false;
ph.Collidable = false;
_visible = true;
}
public Robot(float px, float py, float scale, float power)
{
// legs
legLA = new Leg(px, py, -1, scale, 2, unchecked((int) 0xFF444444), unchecked((int) 0xFF222222));
legRA = new Leg(px, py, 1, scale, 2, 0x444444, 0x222222);
legLB = new Leg(px, py, -1, scale, 2, 0x666666, 0x444444);
legRB = new Leg(px, py, 1, scale, 2, 0x666666, 0x444444);
legLC = new Leg(px, py, -1, scale, 2, 0x888888, 0x666666);
legRC = new Leg(px, py, 1, scale, 2, 0x888888, 0x666666);
// body
body = new Body(legLA.Fix, legRA.Fix, (int) (30 * scale), 2, 0x336699);
// motor
motor = new Motor(body.Center, 8 * scale, 0x336699);
// connect the body to the legs
SpringConstraint connLA = new SpringConstraint(body.Left, legLA.Fix, 1);
SpringConstraint connRA = new SpringConstraint(body.Right, legRA.Fix, 1);
SpringConstraint connLB = new SpringConstraint(body.Left, legLB.Fix, 1);
SpringConstraint connRB = new SpringConstraint(body.Right, legRB.Fix, 1);
SpringConstraint connLC = new SpringConstraint(body.Left, legLC.Fix, 1);
SpringConstraint connRC = new SpringConstraint(body.Right, legRC.Fix, 1);
// connect the legs to the motor
legLA.Cam.Position = motor.RimA.Position;
legRA.Cam.Position = motor.RimA.Position;
SpringConstraint connLAA = new SpringConstraint(legLA.Cam, motor.RimA, 1);
SpringConstraint connRAA = new SpringConstraint(legRA.Cam, motor.RimA, 1);
legLB.Cam.Position = motor.RimB.Position;
legRB.Cam.Position = motor.RimB.Position;
SpringConstraint connLBB = new SpringConstraint(legLB.Cam, motor.RimB, 1);
SpringConstraint connRBB = new SpringConstraint(legRB.Cam, motor.RimB, 1);
legLC.Cam.Position = motor.RimC.Position;
legRC.Cam.Position = motor.RimC.Position;
SpringConstraint connLCC = new SpringConstraint(legLC.Cam, motor.RimC, 1);
SpringConstraint connRCC = new SpringConstraint(legRC.Cam, motor.RimC, 1);
connLAA.SetLine(2, 0x999999);
connRAA.SetLine(2, 0x999999);
connLBB.SetLine(2, 0x999999);
connRBB.SetLine(2, 0x999999);
connLCC.SetLine(2, 0x999999);
connRCC.SetLine(2, 0x999999);
// add to the engine
this.Composites.Add(legLA);
this.Composites.Add(legRA);
this.Composites.Add(legLB);
this.Composites.Add(legRB);
this.Composites.Add(legLC);
this.Composites.Add(legRC);
this.Composites.Add(body);
this.Composites.Add(motor);
this.Constraints.Add(connLA);
this.Constraints.Add(connRA);
this.Constraints.Add(connLB);
this.Constraints.Add(connRB);
this.Constraints.Add(connLC);
this.Constraints.Add(connRC);
this.Constraints.Add(connLAA);
this.Constraints.Add(connRAA);
this.Constraints.Add(connLBB);
this.Constraints.Add(connRBB);
this.Constraints.Add(connLCC);
this.Constraints.Add(connRCC);
direction = -1;
powerLevel = power;
powered = true;
legsVisible = true;
}
public Bridge(int colB, int colC, int colD)
: base(false)
{
float bx = 170;
float by = 40;
float bsize = 51.5f;
float yslope = 2.4f;
float particleSize = 4;
bridgePAA = new CircleParticle(bx, by, particleSize, true, 1, 0.3f, 0);
bridgePAA.SetStyle(1, colC, colB);
this.Particles.Add(bridgePAA);
bx += bsize;
by += yslope;
bridgePA = new CircleParticle(bx, by, particleSize, false, 1, 0.3f, 0);
bridgePA.SetStyle(1, colC, colB);
this.Particles.Add(bridgePA);
bx += bsize;
by += yslope;
bridgePB = new CircleParticle(bx, by, particleSize, false, 1, 0.3f, 0);
bridgePB.SetStyle(1, colC, colB);
this.Particles.Add(bridgePB);
bx += bsize;
by += yslope;
bridgePC = new CircleParticle(bx, by, particleSize, false, 1, 0.3f, 0);
bridgePC.SetStyle(1, colC, colB);
this.Particles.Add(bridgePC);
bx += bsize;
by += yslope;
bridgePD = new CircleParticle(bx, by, particleSize, false, 1, 0.3f, 0);
bridgePD.SetStyle(1, colC, colB);
this.Particles.Add(bridgePD);
bx += bsize;
by += yslope;
bridgePDD = new CircleParticle(bx, by, particleSize, true, 1, 0.3f, 0);
bridgePDD.SetStyle(1, colC, colB);
this.Particles.Add(bridgePDD);
bridgeConnA = new SpringConstraint(bridgePAA, bridgePA,
0.9f, true, 10, 0.8f, false);
// collision response on the bridgeConnA will be ignored on
// on the first 1/4 of the constraint. this avoids blow ups
// particular to springcontraints that have 1 fixed particle.
bridgeConnA.FixedEndLimit = 0.25f;
bridgeConnA.SetStyle(1, colC, colB);
this.Constraints.Add(bridgeConnA);
bridgeConnB = new SpringConstraint(bridgePA, bridgePB,
0.9f, true, 10, 0.8f, false);
bridgeConnB.SetStyle(1, colC, colB);
this.Constraints.Add(bridgeConnB);
bridgeConnC = new SpringConstraint(bridgePB, bridgePC,
0.9f, true, 10, 0.8f, false);
bridgeConnC.SetStyle(1, colC, colB);
this.Constraints.Add(bridgeConnC);
bridgeConnD = new SpringConstraint(bridgePC, bridgePD,
0.9f, true, 10, 0.8f, false);
bridgeConnD.SetStyle(1, colC, colB);
this.Constraints.Add(bridgeConnD);
bridgeConnE = new SpringConstraint(bridgePD, bridgePDD,
0.9f, true, 10, 0.8f, false);
bridgeConnE.FixedEndLimit = 0.25f;
bridgeConnE.SetStyle(1, colC, colB);
this.Constraints.Add(bridgeConnE);
}
public Body(
AbstractParticle left,
AbstractParticle right,
int height,
float lineWeight,
int lineColor)
{
float cpx = (right.PX + left.PX) / 2;
float cpy = right.PY;
rgt = new CircleParticle(right.PX, right.PY, 1);
rgt.SetStyle(3, lineColor, lineColor);
lft = new CircleParticle(left.PX, left.PY, 1);
lft.SetStyle(3, lineColor, lineColor);
ctr = new CircleParticle(cpx, cpy, 1);
ctr.Visible = false;
top = new CircleParticle(cpx, cpy - height / 2, 1);
top.Visible = false;
bot = new CircleParticle(cpx, cpy + height / 2, 1);
bot.Visible = false;
// outer constraints
SpringConstraint tr = new SpringConstraint(top, rgt, 1);
tr.Visible = false;
SpringConstraint rb = new SpringConstraint(rgt, bot, 1);
rb.Visible = false;
SpringConstraint bl = new SpringConstraint(bot, lft, 1);
bl.Visible = false;
SpringConstraint lt = new SpringConstraint(lft, top, 1);
lt.Visible = false;
// inner constrainst
SpringConstraint ct = new SpringConstraint(top, this.Center, 1);
ct.Visible = false;
SpringConstraint cr = new SpringConstraint(rgt, this.Center, 1);
cr.SetLine(lineWeight, lineColor);
SpringConstraint cb = new SpringConstraint(bot, this.Center, 1);
cb.Visible = false;
SpringConstraint cl = new SpringConstraint(lft, this.Center, 1);
cl.SetLine(lineWeight, lineColor);
ctr.Collidable = false;
top.Collidable = false;
rgt.Collidable = false;
bot.Collidable = false;
lft.Collidable = false;
this.Particles.Add(ctr);
this.Particles.Add(top);
this.Particles.Add(rgt);
this.Particles.Add(bot);
this.Particles.Add(lft);
this.Constraints.Add(tr);
this.Constraints.Add(rb);
this.Constraints.Add(bl);
this.Constraints.Add(lt);
this.Constraints.Add(ct);
this.Constraints.Add(cr);
this.Constraints.Add(cb);
this.Constraints.Add(cl);
}
