|
public Initialize ( |
||
| body1 | ||
| body2 | ||
| anchor1 | System.Vector2 | |
| anchor2 | System.Vector2 | |
| return | void | |
private 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] = Vec2.Zero;
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] = Vec2.Zero;
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.Position = _offset;
bd2.Position = p4 + _offset;
bd1.AngularDamping = 10.0f;
bd2.AngularDamping = 10.0f;
Body body1 = _world.CreateBody(bd1);
Body body2 = _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 + _offset, p5 + _offset);
_world.CreateJoint(djd);
djd.Initialize(body1, body2, p3 + _offset, p4 + _offset);
_world.CreateJoint(djd);
djd.Initialize(body1, _wheel, p3 + _offset, wheelAnchor + _offset);
_world.CreateJoint(djd);
djd.Initialize(body2, _wheel, p6 + _offset, wheelAnchor + _offset);
_world.CreateJoint(djd);
RevoluteJointDef rjd = new RevoluteJointDef();
rjd.Initialize(body2, _chassis, p4 + _offset);
_world.CreateJoint(rjd);
}
// Main...
public ElasticBody()
{
// Bottom static body
{
PolygonDef sd = new PolygonDef();
sd.SetAsBox(50.0f, 2.0f);
sd.Friction = 0.1f;
sd.Restitution = 0.1f;
BodyDef bd = new BodyDef();
bd.Position.Set(-1.0f, -7.5f);
_ground = _world.CreateBody(bd);
_ground.CreateShape(sd);
}
// Upper static body
{
PolygonDef sd = new PolygonDef();
sd.SetAsBox(20.0f, 0.50f, new Vec2(0.0f, 0.0f), 0.047f * Box2DX.Common.Settings.Pi);
sd.Friction = 0.01f;
sd.Restitution = 0.001f;
BodyDef bd = new BodyDef();
bd.Position.Set(-20.0f, 93.0f);
Body g = _world.CreateBody(bd);
g.CreateShape(sd);
sd.SetAsBox(15.0f, 0.50f, new Vec2(-15.0f, 12.5f), 0.0f);
g.CreateShape(sd);
sd.SetAsBox(20.0f, 0.5f, new Vec2(0.0f, -25.0f), -0.5f);
g.CreateShape(sd);
}
// Left channel left wall
{
PolygonDef sd = new PolygonDef();
sd.SetAsBox(0.7f, 55.0f);
sd.Friction = 0.1f;
sd.Restitution = 0.1f;
BodyDef bd = new BodyDef();
bd.Position.Set(-49.3f, 50.0f);
Body g = _world.CreateBody(bd);
g.CreateShape(sd);
}
// Right wall
{
PolygonDef sd = new PolygonDef();
sd.SetAsBox(0.7f, 55.0f);
sd.Friction = 0.1f;
sd.Restitution = 0.1f;
BodyDef bd = new BodyDef();
bd.Position.Set(45.0f, 50.0f);
Body g = _world.CreateBody(bd);
g.CreateShape(sd);
}
// Left channel right upper wall
{
PolygonDef sd = new PolygonDef();
sd.SetAsBox(0.5f, 20.0f);
sd.Friction = 0.05f;
sd.Restitution = 0.01f;
BodyDef bd = new BodyDef();
bd.Position.Set(-42.0f, 70.0f);
bd.Angle = -0.03f * Box2DX.Common.Settings.Pi;
Body g = _world.CreateBody(bd);
g.CreateShape(sd);
}
// Left channel right lower wall
{
PolygonDef sd = new PolygonDef();
sd.SetAsBox(0.50f, 23.0f);
sd.Friction = 0.05f;
sd.Restitution = 0.01f;
BodyDef bd = new BodyDef();
bd.Position.Set(-44.0f, 27.0f);
Body g = _world.CreateBody(bd);
g.CreateShape(sd);
// Bottom motors
CircleDef cd = new CircleDef();
cd.Radius = 3.0f;
cd.Density = 15.0f;
cd.Friction = 1.0f;
cd.Restitution = 0.2f;
// 1.
bd.Position.Set(-40.0f, 2.5f);
Body body = _world.CreateBody(bd);
body.CreateShape(cd);
body.SetMassFromShapes();
RevoluteJointDef jr = new RevoluteJointDef();
jr.Initialize(g, body, body.GetWorldCenter() + new Vec2(0.0f, 1.0f));
jr.MaxMotorTorque = 30000.0f;
jr.EnableMotor = true;
jr.MotorSpeed = 20.0f;
_world.CreateJoint(jr);
// 1. left down
bd.Position.Set(-46.0f, -2.5f);
cd.Radius = 1.5f; jr.MotorSpeed = -20.0f;
body = _world.CreateBody(bd);
body.CreateShape(cd);
sd.SetAsBox(2.0f, 0.50f);
body.CreateShape(sd);
body.SetMassFromShapes();
jr.Initialize(g, body, body.GetWorldCenter());
_world.CreateJoint(jr);
// 2.
cd.Radius = 3.0f; jr.MotorSpeed = 20.0f;
bd.Position.Set(-32.0f, 2.5f);
body = _world.CreateBody(bd);
body.CreateShape(cd);
body.SetMassFromShapes();
jr.Initialize(g, body, body.GetWorldCenter() + new Vec2(0.0f, 1.0f));
_world.CreateJoint(jr);
// 3.
jr.MotorSpeed = 20.0f;
bd.Position.Set(-24.0f, 1.5f);
body = _world.CreateBody(bd);
body.CreateShape(cd);
body.SetMassFromShapes();
jr.Initialize(g, body, body.GetWorldCenter() + new Vec2(0.0f, 1.0f));
_world.CreateJoint(jr);
// 4.
bd.Position.Set(-16.0f, 0.8f);
body = _world.CreateBody(bd);
body.CreateShape(cd);
body.SetMassFromShapes();
jr.Initialize(g, body, body.GetWorldCenter() + new Vec2(0.0f, 1.0f));
_world.CreateJoint(jr);
// 5.
bd.Position.Set(-8.0f, 0.5f);
body = _world.CreateBody(bd);
body.CreateShape(cd);
body.SetMassFromShapes();
jr.Initialize(g, body, body.GetWorldCenter() + new Vec2(0.0f, 1.0f));
_world.CreateJoint(jr);
// 6.
bd.Position.Set(0.0f, 0.1f);
body = _world.CreateBody(bd);
body.CreateShape(cd);
body.SetMassFromShapes();
jr.Initialize(g, body, body.GetWorldCenter() + new Vec2(0.0f, 1.0f));
_world.CreateJoint(jr);
// 7.
bd.Position.Set(8.0f, -0.5f);
body = _world.CreateBody(bd);
body.CreateShape(cd);
sd.SetAsBox(3.7f, 0.5f);
body.CreateShape(sd);
body.SetMassFromShapes();
jr.Initialize(g, body, body.GetWorldCenter() + new Vec2(0.0f, 1.0f));
_world.CreateJoint(jr);
// 8. right rotator
sd.SetAsBox(5.0f, 0.5f);
sd.Density = 2.0f;
bd.Position.Set(18.0f, 1.0f);
Body rightmotor = _world.CreateBody(bd);
rightmotor.CreateShape(sd);
sd.SetAsBox(4.5f, 0.5f, new Vec2(0.0f, 0.0f), Box2DX.Common.Settings.Pi / 3.0f);
rightmotor.CreateShape(sd);
sd.SetAsBox(4.5f, 0.5f, new Vec2(0.0f, 0.0f), Box2DX.Common.Settings.Pi * 2.0f / 3.0f);
rightmotor.CreateShape(sd);
cd.Radius = 4.2f;
rightmotor.CreateShape(cd);
rightmotor.SetMassFromShapes();
jr.Initialize(g, rightmotor, rightmotor.GetWorldCenter());
jr.MaxMotorTorque = 70000.0f;
jr.MotorSpeed = -4.0f;
_world.CreateJoint(jr);
// 9. left rotator
sd.SetAsBox(8.5f, 0.5f);
sd.Density = 2.0f;
bd.Position.Set(-34.0f, 17.0f);
body = _world.CreateBody(bd);
body.CreateShape(sd);
sd.SetAsBox(8.5f, 0.5f, new Vec2(0.0f, 0.0f), Box2DX.Common.Settings.Pi * .5f);
body.CreateShape(sd);
cd.Radius = 7.0f;
cd.Friction = 0.9f;
body.CreateShape(cd);
body.SetMassFromShapes();
jr.Initialize(g, body, body.GetWorldCenter());
jr.MaxMotorTorque = 100000.0f;
jr.MotorSpeed = -5.0f;
_world.CreateJoint(jr);
// big compressor
sd.SetAsBox(3.0f, 4.0f);
sd.Density = 10.0f;
bd.Position.Set(-16.0f, 17.0f);
Body hammerleft = _world.CreateBody(bd);
hammerleft.CreateShape(sd);
hammerleft.SetMassFromShapes();
DistanceJointDef jd = new DistanceJointDef();
jd.Initialize(body, hammerleft, body.GetWorldCenter() + new Vec2(0.0f, 6.0f), hammerleft.GetWorldCenter());
_world.CreateJoint(jd);
bd.Position.Set(4.0f, 17.0f);
Body hammerright = _world.CreateBody(bd);
hammerright.CreateShape(sd);
hammerright.SetMassFromShapes();
jd.Initialize(body, hammerright, body.GetWorldCenter() - new Vec2(0.0f, 6.0f), hammerright.GetWorldCenter());
_world.CreateJoint(jd);
// pusher
sd.SetAsBox(6.0f, 0.75f);
bd.Position.Set(-21.0f, 9.0f);
Body pusher = _world.CreateBody(bd);
pusher.CreateShape(sd);
sd.SetAsBox(2.0f, 1.5f, new Vec2(-5.0f, 0.0f), 0.0f);
pusher.SetMassFromShapes();
pusher.CreateShape(sd);
jd.Initialize(rightmotor, pusher, rightmotor.GetWorldCenter() + new Vec2(-8.0f, 0.0f),
pusher.GetWorldCenter() + new Vec2(5.0f, 0.0f));
_world.CreateJoint(jd);
}
// Static bodies above motors
{
PolygonDef sd = new PolygonDef();
CircleDef cd = new CircleDef();
sd.SetAsBox(9.0f, 0.5f);
sd.Friction = 0.05f;
sd.Restitution = 0.01f;
BodyDef bd = new BodyDef();
bd.Position.Set(-15.5f, 12.0f);
bd.Angle = 0.0f;
Body g = _world.CreateBody(bd);
g.CreateShape(sd);
sd.SetAsBox(8.0f, 0.5f, new Vec2(23.0f, 0.0f), 0.0f);
g.CreateShape(sd);
// compressor statics
sd.SetAsBox(7.0f, 0.5f, new Vec2(-2.0f, 9.0f), 0.0f);
g.CreateShape(sd);
sd.SetAsBox(9.0f, 0.5f, new Vec2(22.0f, 9.0f), 0.0f);
g.CreateShape(sd);
sd.SetAsBox(19.0f, 0.5f, new Vec2(-9.0f, 15.0f), -0.05f);
g.CreateShape(sd);
sd.SetAsBox(4.7f, 0.5f, new Vec2(15.0f, 11.5f), -0.5f);
g.CreateShape(sd);
// below compressor
sd.SetAsBox(26.0f, 0.3f, new Vec2(17.0f, -4.4f), -0.02f);
g.CreateShape(sd);
cd.Radius = 1.0f; cd.Friction = 1.0f;
cd.LocalPosition = new Vec2(29.0f, -6.0f);
g.CreateShape(cd);
cd.Radius = 0.7f;
cd.LocalPosition = new Vec2(-2.0f, -4.5f);
g.CreateShape(cd);
}
// Elevator
{
BodyDef bd = new BodyDef();
CircleDef cd = new CircleDef();
PolygonDef sd = new PolygonDef();
bd.Position.Set(40.0f, 4.0f);
_elev = _world.CreateBody(bd);
sd.SetAsBox(0.5f, 2.5f, new Vec2(3.0f, -3.0f), 0.0f);
sd.Density = 1.0f;
sd.Friction = 0.01f;
_elev.CreateShape(sd);
sd.SetAsBox(7.0f, 0.5f, new Vec2(-3.5f, -5.5f), 0.0f);
_elev.CreateShape(sd);
sd.SetAsBox(0.5f, 2.5f, new Vec2(-11.0f, -3.5f), 0.0f);
_elev.CreateShape(sd);
_elev.SetMassFromShapes();
PrismaticJointDef jp = new PrismaticJointDef();
jp.Initialize(_ground, _elev, bd.Position, new Vec2(0.0f, 1.0f));
jp.LowerTranslation = 0.0f;
jp.UpperTranslation = 100.0f;
jp.EnableLimit = true;
jp.EnableMotor = true;
jp.MaxMotorForce = 10000.0f;
jp.MotorSpeed = 0.0f;
_joint_elev = (PrismaticJoint)_world.CreateJoint(jp);
// Korb
sd.SetAsBox(2.3f, 0.5f, new Vec2(1.0f, 0.0f), 0.0f);
sd.Density = 0.5f;
bd.Position.Set(29.0f, 6.5f);
Body body = _world.CreateBody(bd);
body.CreateShape(sd);
sd.SetAsBox(2.5f, 0.5f, new Vec2(3.0f, -2.0f), Box2DX.Common.Settings.Pi / 2.0f);
body.CreateShape(sd);
sd.SetAsBox(4.6f, 0.5f, new Vec2(7.8f, -4.0f), 0.0f);
body.CreateShape(sd);
sd.SetAsBox(0.5f, 4.5f, new Vec2(12.0f, 0.0f), 0.0f);
body.CreateShape(sd);
sd.SetAsBox(0.5f, 0.5f, new Vec2(13.0f, 4.0f), 0.0f);
body.CreateShape(sd);
cd.Radius = 0.7f; cd.Density = 1.0f; cd.Friction = 0.01f;
cd.LocalPosition = new Vec2(0.0f, 0.0f);
body.CreateShape(cd);
body.SetMassFromShapes();
RevoluteJointDef jr = new RevoluteJointDef();
jr.Initialize(_elev, body, bd.Position);
jr.EnableLimit = true;
jr.LowerAngle = -0.2f;
jr.UpperAngle = Box2DX.Common.Settings.Pi * 1.1f;
jr.CollideConnected = true;
_world.CreateJoint(jr);
// upper body exit
sd.SetAsBox(14.0f, 0.5f, new Vec2(-3.5f, -10.0f), 0.0f);
bd.Position.Set(17.5f, 96.0f);
body = _world.CreateBody(bd);
body.CreateShape(sd);
}
// "Elastic body" 64 bodies - something like a lin. elastic compound
// connected via dynamic forces (springs)
{
PolygonDef sd = new PolygonDef();
sd.SetAsBox(0.55f, 0.55f);
sd.Density = 1.5f;
sd.Friction = 0.01f;
sd.Filter.GroupIndex = -1;
Vec2 startpoint = new Vec2(30.0f, 20.0f);
BodyDef bd = new BodyDef();
bd.IsBullet = false;
bd.AllowSleep = false;
for (int i = 0; i < 8; ++i)
{
for (int j = 0; j < 8; ++j)
{
bd.Position.Set(j * 1.02f, 2.51f + 1.02f * i);
bd.Position += startpoint;
Body body = _world.CreateBody(bd);
bodies[8 * i + j] = body;
body.CreateShape(sd);
body.SetMassFromShapes();
}
}
}
}