internal DistanceJoint(DistanceJointDef def) : base(def)
{
m_localAnchorA = def.localAnchorA;
m_localAnchorB = def.localAnchorB;
m_length = def.length;
m_frequencyHz = def.frequencyHz;
m_dampingRatio = def.dampingRatio;
m_impulse = 0.0f;
m_gamma = 0.0f;
m_bias = 0.0f;
}
internal DistanceJoint(DistanceJointDef def) : base(def)
{
m_localAnchorA = def.localAnchorA;
m_localAnchorB = def.localAnchorB;
m_length = def.length;
m_frequencyHz = def.frequencyHz;
m_dampingRatio = def.dampingRatio;
m_impulse = 0.0f;
m_gamma = 0.0f;
m_bias = 0.0f;
}
internal DistanceJoint(DistanceJointDef def)
: base(def)
{
_localAnchor1 = def.localAnchorA;
_localAnchor2 = def.localAnchorB;
_length = def.length;
_frequencyHz = def.frequencyHz;
_dampingRatio = def.dampingRatio;
_impulse = 0.0f;
_gamma = 0.0f;
_bias = 0.0f;
}
public Dominos()
{
Body b1;
{
EdgeShape shape = new EdgeShape();
shape.Set(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
shape.Density = 0;
BodyDef bd = new BodyDef();
b1 = m_world.CreateBody(bd);
b1.CreateFixture(shape);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(6.0f, 0.25f);
BodyDef bd = new BodyDef();
bd.Position.Set(-1.5f, 10.0f);
Body ground = m_world.CreateBody(bd);
shape.Density = 0;
ground.CreateFixture(shape);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.1f, 1.0f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.Density = 20.0f;
fd.friction = 0.1f;
for (int i = 0; i < 10; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(-6.0f + 1.0f * i, 11.25f);
Body body = m_world.CreateBody(bd);
body.CreateFixture(fd);
}
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(7.0f, 0.25f, new Vec2(0, 0), 0.3f);
shape.Density = 0;
BodyDef bd = new BodyDef();
bd.Position.Set(1.0f, 6.0f);
Body ground = m_world.CreateBody(bd);
ground.CreateFixture(shape);
}
Body b2;
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.25f, 1.5f);
shape.Density = 0;
BodyDef bd = new BodyDef();
bd.Position.Set(-7.0f, 4.0f);
b2 = m_world.CreateBody(bd);
b2.CreateFixture(shape);
}
Body b3;
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(6.0f, 0.125f);
shape.Density = 10;
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(-0.9f, 1.0f);
bd.angle = -0.15f;
b3 = m_world.CreateBody(bd);
b3.CreateFixture(shape);
}
RevoluteJointDef jd = new RevoluteJointDef();
Vec2 anchor = new Vec2();
anchor.Set(-2.0f, 1.0f);
jd.Initialize(b1, b3, anchor);
jd.collideConnected = true;
m_world.CreateJoint(jd);
Body b4;
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.25f, 0.25f);
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(-10.0f, 15.0f);
b4 = m_world.CreateBody(bd);
shape.Density = 10;
shape.Density = 10;
b4.CreateFixture(shape);
}
anchor.Set(-7.0f, 15.0f);
jd.Initialize(b2, b4, anchor);
m_world.CreateJoint(jd);
Body b5;
{
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(6.5f, 3.0f);
b5 = m_world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.Density = 10.0f;
fd.friction = 0.1f;
shape.SetAsBox(1.0f, 0.1f, new Vec2(0.0f, -0.9f), 0.0f);
b5.CreateFixture(fd);
shape.SetAsBox(0.1f, 1.0f, new Vec2(-0.9f, 0.0f), 0.0f);
b5.CreateFixture(fd);
shape.SetAsBox(0.1f, 1.0f, new Vec2(0.9f, 0.0f), 0.0f);
b5.CreateFixture(fd);
}
anchor.Set(6.0f, 2.0f);
jd.Initialize(b1, b5, anchor);
m_world.CreateJoint(jd);
Body b6;
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(1.0f, 0.1f);
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(6.5f, 4.1f);
b6 = m_world.CreateBody(bd);
shape.Density = 30;
b6.CreateFixture(shape);
}
anchor.Set(7.5f, 4.0f);
jd.Initialize(b5, b6, anchor);
m_world.CreateJoint(jd);
Body b7;
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.1f, 1.0f);
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(7.4f, 1.0f);
b7 = m_world.CreateBody(bd);
shape.Density = 10;
b7.CreateFixture(shape);
}
DistanceJointDef djd = new DistanceJointDef();
djd.bodyA = b3;
djd.bodyB = b7;
djd.localAnchorA.Set(6.0f, 0.0f);
djd.localAnchorB.Set(0.0f, -1.0f);
Vec2 d = djd.bodyB.GetWorldPoint(djd.localAnchorB) - djd.bodyA.GetWorldPoint(djd.localAnchorA);
djd.length = d.Length();
m_world.CreateJoint(djd);
{
float radius = 0.2f;
CircleShape shape = new CircleShape();
shape.m_radius = radius;
for (int i = 0; i < 4; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(5.9f + 2.0f * radius * i, 2.4f);
Body body = m_world.CreateBody(bd);
shape.Density = 10;
body.CreateFixture(shape);
}
}
}
public Web()
{
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = m_world.CreateBody(bd);
EdgeShape shape = new EdgeShape();
shape.Set(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
shape.Density = 0;
ground.CreateFixture(shape);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.5f, 0.5f);
shape.Density = 5;
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(-5.0f, 5.0f);
m_bodies[0] = m_world.CreateBody(bd);
m_bodies[0].CreateFixture(shape);
bd.Position.Set(5.0f, 5.0f);
m_bodies[1] = m_world.CreateBody(bd);
m_bodies[1].CreateFixture(shape);
bd.Position.Set(5.0f, 15.0f);
m_bodies[2] = m_world.CreateBody(bd);
m_bodies[2].CreateFixture(shape);
bd.Position.Set(-5.0f, 15.0f);
m_bodies[3] = m_world.CreateBody(bd);
m_bodies[3].CreateFixture(shape);
DistanceJointDef jd = new DistanceJointDef();
Vec2 p1, p2, d;
jd.frequencyHz = 2.0f;
jd.dampingRatio = 0.0f;
jd.bodyA = ground;
jd.bodyB = m_bodies[0];
jd.localAnchorA.Set(-10.0f, 0.0f);
jd.localAnchorB.Set(-0.5f, -0.5f);
p1 = jd.bodyA.GetWorldPoint(jd.localAnchorA);
p2 = jd.bodyB.GetWorldPoint(jd.localAnchorB);
d = p2 - p1;
jd.length = d.Length();
m_joints[0] = m_world.CreateJoint(jd);
jd.bodyA = ground;
jd.bodyB = m_bodies[1];
jd.localAnchorA.Set(10.0f, 0.0f);
jd.localAnchorB.Set(0.5f, -0.5f);
p1 = jd.bodyA.GetWorldPoint(jd.localAnchorA);
p2 = jd.bodyB.GetWorldPoint(jd.localAnchorB);
d = p2 - p1;
jd.length = d.Length();
m_joints[1] = m_world.CreateJoint(jd);
jd.bodyA = ground;
jd.bodyB = m_bodies[2];
jd.localAnchorA.Set(10.0f, 20.0f);
jd.localAnchorB.Set(0.5f, 0.5f);
p1 = jd.bodyA.GetWorldPoint(jd.localAnchorA);
p2 = jd.bodyB.GetWorldPoint(jd.localAnchorB);
d = p2 - p1;
jd.length = d.Length();
m_joints[2] = m_world.CreateJoint(jd);
jd.bodyA = ground;
jd.bodyB = m_bodies[3];
jd.localAnchorA.Set(-10.0f, 20.0f);
jd.localAnchorB.Set(-0.5f, 0.5f);
p1 = jd.bodyA.GetWorldPoint(jd.localAnchorA);
p2 = jd.bodyB.GetWorldPoint(jd.localAnchorB);
d = p2 - p1;
jd.length = d.Length();
m_joints[3] = m_world.CreateJoint(jd);
jd.bodyA = m_bodies[0];
jd.bodyB = m_bodies[1];
jd.localAnchorA.Set(0.5f, 0.0f);
jd.localAnchorB.Set(-0.5f, 0.0f);;
p1 = jd.bodyA.GetWorldPoint(jd.localAnchorA);
p2 = jd.bodyB.GetWorldPoint(jd.localAnchorB);
d = p2 - p1;
jd.length = d.Length();
m_joints[4] = m_world.CreateJoint(jd);
jd.bodyA = m_bodies[1];
jd.bodyB = m_bodies[2];
jd.localAnchorA.Set(0.0f, 0.5f);
jd.localAnchorB.Set(0.0f, -0.5f);
p1 = jd.bodyA.GetWorldPoint(jd.localAnchorA);
p2 = jd.bodyB.GetWorldPoint(jd.localAnchorB);
d = p2 - p1;
jd.length = d.Length();
m_joints[5] = m_world.CreateJoint(jd);
jd.bodyA = m_bodies[2];
jd.bodyB = m_bodies[3];
jd.localAnchorA.Set(-0.5f, 0.0f);
jd.localAnchorB.Set(0.5f, 0.0f);
p1 = jd.bodyA.GetWorldPoint(jd.localAnchorA);
p2 = jd.bodyB.GetWorldPoint(jd.localAnchorB);
d = p2 - p1;
jd.length = d.Length();
m_joints[6] = m_world.CreateJoint(jd);
jd.bodyA = m_bodies[3];
jd.bodyB = m_bodies[0];
jd.localAnchorA.Set(0.0f, -0.5f);
jd.localAnchorB.Set(0.0f, 0.5f);
p1 = jd.bodyA.GetWorldPoint(jd.localAnchorA);
p2 = jd.bodyB.GetWorldPoint(jd.localAnchorB);
d = p2 - p1;
jd.length = d.Length();
m_joints[7] = m_world.CreateJoint(jd);
}
}
public void CreateLeg(float s, Vec2 wheelAnchor)
{
Vec2 p1 = new Vec2(5.4f * s, -6.1f);
Vec2 p2 = new Vec2(7.2f * s, -1.2f);
Vec2 p3 = new Vec2(4.3f * s, -1.9f);
Vec2 p4 = new Vec2(3.1f * s, 0.8f);
Vec2 p5 = new Vec2(6.0f * s, 1.5f);
Vec2 p6 = new Vec2(2.5f * s, 3.7f);
FixtureDef fd1 = new FixtureDef();
FixtureDef fd2 = new FixtureDef();
fd1.Filter.GroupIndex = -1;
fd2.Filter.GroupIndex = -1;
fd1.Density = 1.0f;
fd2.Density = 1.0f;
PolygonShape poly1 = new PolygonShape();
PolygonShape poly2 = new PolygonShape();
if (s > 0.0f)
{
Vec2[] vertices = new Vec2[3];
vertices[0] = p1;
vertices[1] = p2;
vertices[2] = p3;
poly1.Set(vertices, 3);
vertices[0] = new Vec2(0, 0);
vertices[1] = p5 - p4;
vertices[2] = p6 - p4;
poly2.Set(vertices, 3);
}
else
{
Vec2[] vertices = new Vec2[3];
vertices[0] = p1;
vertices[1] = p3;
vertices[2] = p2;
poly1.Set(vertices, 3);
vertices[0] = new Vec2(0, 0);
vertices[1] = p6 - p4;
vertices[2] = p5 - p4;
poly2.Set(vertices, 3);
}
fd1.shape = poly1;
fd2.shape = poly2;
BodyDef bd1 = new BodyDef();
BodyDef bd2 = new BodyDef();
bd1.type = BodyType._dynamicBody;
bd2.type = BodyType._dynamicBody;
bd1.Position = m_offset;
bd2.Position = p4 + m_offset;
bd1.angularDamping = 10.0f;
bd2.angularDamping = 10.0f;
Body body1 = m_world.CreateBody(bd1);
Body body2 = m_world.CreateBody(bd2);
body1.CreateFixture(fd1);
body2.CreateFixture(fd2);
DistanceJointDef djd = new DistanceJointDef();
// Using a soft distance constraint can reduce some jitter.
// It also makes the structure seem a bit more fluid by
// acting like a suspension system.
djd.dampingRatio = 0.5f;
djd.frequencyHz = 10.0f;
djd.Initialize(body1, body2, p2 + m_offset, p5 + m_offset);
m_world.CreateJoint(djd);
djd.Initialize(body1, body2, p3 + m_offset, p4 + m_offset);
m_world.CreateJoint(djd);
djd.Initialize(body1, m_wheel, p3 + m_offset, wheelAnchor + m_offset);
m_world.CreateJoint(djd);
djd.Initialize(body2, m_wheel, p6 + m_offset, wheelAnchor + m_offset);
m_world.CreateJoint(djd);
RevoluteJointDef rjd = new RevoluteJointDef();
rjd.Initialize(body2, m_chassis, p4 + m_offset);
m_world.CreateJoint(rjd);
}
