RevoluteJoint wandHinge; // Moves the wand
#endregion Fields
#region Constructors
public Vehicle(MemoryBank memBank, float distance)
{
// Figure out the positions of the vehicle and it's sliderBase
Vector3 position = new Vector3(memBank.Position.X, memBank.Position.Y, memBank.Position.Z + 10);
Vector3 motorPos = new Vector3(position.X - memBank.Length - distance, position.Y, position.Z);
byteDist = memBank.ByteDistance;
bytes = memBank.NumberOfBytes;
wandGoal = sliderGoal = false;
delay = 0;
// Build the main vechicle
chassis = XNAGame.Instance.createVehicle(position);
// Build the slider, and attatch
sliderBase = new Box(motorPos, 1, 1, 1);
slider = new PrismaticJoint(sliderBase, chassis.body, sliderBase.Position, Vector3.UnitX, chassis.body.Position);
XNAGame.Instance.space.Add(slider);
XNAGame.Instance.space.Add(sliderBase);
// Change slider settings
slider.Motor.Settings.Mode = MotorMode.Servomechanism;
slider.Motor.Settings.Servo.SpringSettings.StiffnessConstant /= 20;
slider.Motor.Settings.Servo.MaxCorrectiveVelocity = 200;
slider.Motor.Settings.Servo.BaseCorrectiveSpeed = 120;
// Create the wand
setUpWand(position);
}
BepuEntity fireBall()
{
BepuEntity ball = new BepuEntity();
ball.modelName = "sphere";
float size = 1;
ball.localTransform = Matrix.CreateScale(new Vector3(size, size, size));
ball.body = new Sphere(Camera.Position + (Camera.Look * 8), size, size * 10);
ball.diffuse = new Vector3((float)random.NextDouble(), (float)random.NextDouble(), (float)random.NextDouble());
space.Add(ball.body);
ball.LoadContent();
ball.configureEvents();
ball.body.ApplyImpulse(Camera.Position, Camera.Look * 500);
children.Add(ball);
return ball;
}
BepuEntity createWheel(Vector3 position, float wheelWidth, float wheelRadius)
{
BepuEntity wheelEntity = new BepuEntity();
wheelEntity.modelName = "cyl";
wheelEntity.LoadContent();
wheelEntity.body = new Cylinder(position, wheelWidth, wheelRadius, wheelRadius);
wheelEntity.localTransform = Matrix.CreateScale(wheelRadius, wheelWidth, wheelRadius);
wheelEntity.body.Orientation = Quaternion.CreateFromAxisAngle(new Vector3(1, 0, 0), MathHelper.PiOver2);
wheelEntity.diffuse = new Vector3((float)random.NextDouble(), (float)random.NextDouble(), (float)random.NextDouble());
space.Add(wheelEntity.body);
children.Add(wheelEntity);
return wheelEntity;
}
void createSteerableVehicle(Vector3 position)
{
float width = 15;
float height = 2;
float length = 5;
float wheelWidth = 1;
float wheelRadius = 2;
BepuEntity chassis = createBox(position, width, height, length);
chassis.LoadContent();
chassis.body.Mass = 100;
RevoluteMotor motor;
BepuEntity wheel;
RevoluteJoint joint;
SwivelHingeJoint steerJoint;
Vector3 wheelPos = new Vector3(position.X - (width / 2) + wheelRadius, position.Y, position.Z - (length / 2));
wheel = createWheel(wheelPos, wheelWidth, wheelRadius);
motor = new RevoluteMotor(chassis.body, wheel.body, Vector3.UnitZ);
motor.Settings.VelocityMotor.GoalVelocity = -6;
motor.IsActive = true;
wheelPos = new Vector3(position.X - (width / 2) + wheelRadius, position.Y, position.Z - (length / 2) - (wheelWidth * 2));
space.Add(motor);
joint = new RevoluteJoint(chassis.body, wheel.body, wheel.body.Position, new Vector3(0, 0, -1));
space.Add(joint);
wheel = createWheel(new Vector3(position.X - (width / 2) + wheelRadius, position.Y, position.Z + (length / 2) + wheelWidth), wheelWidth, wheelRadius);
joint = new RevoluteJoint(chassis.body, wheel.body, wheel.body.Position, new Vector3(0, 0, -1));
space.Add(joint);
wheel = createWheel(new Vector3(position.X + (width / 2) - wheelRadius, position.Y, position.Z - (length / 2) - wheelWidth), wheelWidth, wheelRadius);
motor = new RevoluteMotor(chassis.body, wheel.body, Vector3.UnitZ);
motor.Settings.VelocityMotor.GoalVelocity = -6;
motor.IsActive = true;
joint = new RevoluteJoint(chassis.body, wheel.body, wheel.body.Position, new Vector3(0, 0, -1));
space.Add(joint);
space.Add(motor);
wheel = createWheel(new Vector3(position.X + (width / 2) - wheelRadius, position.Y, position.Z + (length / 2) + wheelWidth), wheelWidth, wheelRadius);
joint = new RevoluteJoint(chassis.body, wheel.body, wheel.body.Position, new Vector3(0, 0, -1));
space.Add(joint);
BepuEntity pole = new BepuEntity();
pole.modelName = "cube";
pole.body = new Box(new Vector3(0, position.Y + 12, 0), 2, 18, 2, 1); // I have no idea whatsoever why the height has to be one, but it won't work otherwise...
pole.localTransform = Matrix.CreateScale(new Vector3(2, 18, 2));
//pole.body.CollisionInformation.LocalPosition = new Vector3(0, 20, 0);
pole.configureEvents();
joint = new RevoluteJoint(chassis.body, pole.body, chassis.body.Position, new Vector3(-1, 0, 0));
joint.Limit.IsActive = true;
joint.Limit.MaximumAngle = MathHelper.ToRadians(45.0f);
joint.Limit.MinimumAngle = MathHelper.ToRadians(-45.0f);
joint.Motor.Settings.Mode = MotorMode.Servomechanism;
joint.Motor.Settings.Servo.Goal = MathHelper.ToRadians(-45.0f);
joint.Motor.Settings.Servo.BaseCorrectiveSpeed = 8f;
joint.Motor.Settings.MaximumForce = 2;
joint.Motor.IsActive = true;
children.Add(pole);
space.Add(pole.body);
space.Add(joint);
}
BepuEntity createFromMesh(Vector3 position, string mesh, float scale)
{
BepuEntity entity = new BepuEntity();
entity.modelName = mesh;
entity.LoadContent();
Vector3[] vertices;
int[] indices;
TriangleMesh.GetVerticesAndIndicesFromModel(entity.model, out vertices, out indices);
AffineTransform localTransform = new AffineTransform(new Vector3(scale, scale, scale), Quaternion.Identity, new Vector3(0, 0, 0));
MobileMesh mobileMesh = new MobileMesh(vertices, indices, localTransform, BEPUphysics.CollisionShapes.MobileMeshSolidity.Counterclockwise, 1);
entity.localTransform = Matrix.CreateScale(scale, scale, scale);
entity.body = mobileMesh;
entity.HasColor = true;
entity.diffuse = new Vector3((float)random.NextDouble(), (float)random.NextDouble(), (float)random.NextDouble());
entity.body.Position = position;
space.Add(entity.body);
children.Add(entity);
return entity;
}
public BepuEntity createBox(Vector3 position, float width, float height, float length)
{
BepuEntity theBox = new BepuEntity();
theBox.modelName = "cube";
theBox.LoadContent();
theBox.localTransform = Matrix.CreateScale(new Vector3(width, height, length));
theBox.body = new Box(position, width, height, length, 1);
theBox.diffuse = new Vector3((float)random.NextDouble(), (float)random.NextDouble(), (float)random.NextDouble());
theBox.configureEvents();
space.Add(theBox.body);
children.Add(theBox);
return theBox;
}
