public void CreateRevoluteJoint(out RevoluteJoint joint, BepuEntity connectionA, BepuEntity connectionB, Vector3 anchor, int maxForce, Vector3 freeAxis)
{
//Creates joints for such things as camera/laser rotating around the body, or up and down
joint = new RevoluteJoint(connectionA.body, connectionB.body, anchor, freeAxis);
joint.Motor.IsActive = true;
joint.Motor.Settings.Mode = MotorMode.Servomechanism;
joint.Motor.Settings.MaximumForce = maxForce;
Game1.Instance.Space.Add(joint);
}
public MarsRover() : base()
{
laserShot = Game1.Instance.Content.Load <SoundEffect>("lasershot");
explosionSound = Game1.Instance.Content.Load <SoundEffect>("explosion-01");
cameraArm = new BepuEntity();
drillArm = new BepuEntity();
//construct mars rover ase body
roverBase = marsRoverBody.AddBox(new Vector3(260, 45, -260));
//create arms to hold both drill and camera/laser
drillArm = marsRoverBody.AddCylinder("cylinder", new Vector3(267, 44, -244), false);
cameraArm = marsRoverBody.AddCylinder("cylinder", new Vector3(254, 54, -252), true);
//Create joint between rover body and drill arm
roverMovement.CreateRevoluteJoint(out roverMovement.bodyDrillJoint, roverBase, drillArm, new Vector3(267, 44, -250), 3500, Vector3.Right);
roverMovement.roverJoints.Add(roverMovement.bodyDrillJoint);
//Create joint between rover body and camera/laser arm
roverMovement.CreateRevoluteJoint(out roverMovement.bodyCameraCylinderJoint, roverBase, cameraArm, cameraArm.body.Position, 1500, Vector3.Up);
roverMovement.roverJoints.Add(roverMovement.bodyCameraCylinderJoint);
//create container for camera/laser
cameraLaserContainer = marsRoverBody.AddCylinder("cube", new Vector3(254, 61, -252), true);
//Create joint between camera/laser arm and container for camera/laser
roverMovement.CreateRevoluteJoint(out roverMovement.cameraLaserContainerXaxisRotation, cameraArm, cameraLaserContainer, cameraLaserContainer.body.Position, 2500, -Vector3.Right);
roverMovement.roverJoints.Add(roverMovement.cameraLaserContainerXaxisRotation);
//create the four back wheels of the rover and connect them to the body
Entity backWheel1 = marsRoverBody.AddWheel(new Vector3(250, 42, -267), roverBase.body);
roverMovement.ConnectWheelBody(backWheel1, roverBase);
Entity backWheel2 = marsRoverBody.AddWheel(new Vector3(270, 42, -267), roverBase.body);
roverMovement.ConnectWheelBody(backWheel2, roverBase);
Entity backWheel3 = marsRoverBody.AddWheel(new Vector3(250, 42, -260), roverBase.body);
roverMovement.ConnectWheelBody(backWheel3, roverBase);
Entity backWheel4 = marsRoverBody.AddWheel(new Vector3(270, 42, -260), roverBase.body);
roverMovement.ConnectWheelBody(backWheel4, roverBase);
//Create the two driving wheels and connect them to the body
var wheel1 = marsRoverBody.AddWheel(new Vector3(270, 42, -255), roverBase.body);
roverMovement.SetUpFrontMotorWheels(roverBase, wheel1, out roverMovement.drivingMotor1, out roverMovement.steeringMotor1);
var wheel2 = marsRoverBody.AddWheel(new Vector3(250, 42, -255), roverBase.body);
roverMovement.SetUpFrontMotorWheels(roverBase, wheel2, out roverMovement.drivingMotor2, out roverMovement.steeringMotor2);
var steeringStabilizer = new RevoluteAngularJoint(wheel1, wheel2, Vector3.Right);
Game1.Instance.Space.Add(steeringStabilizer);
}
public void CreateSuspensionString(BepuEntity connectionA, Entity connectionB)
{
//code taken from bepu physics demo suspensioncardemo.cs and adapted for this project
LinearAxisMotor suspensionSpring = new LinearAxisMotor(connectionA.body, connectionB, connectionB.Position, connectionB.Position, Vector3.Down);
suspensionSpring.Settings.Mode = MotorMode.Servomechanism;
suspensionSpring.Settings.Servo.Goal = 0;
suspensionSpring.Settings.Servo.SpringSettings.StiffnessConstant = 300;
suspensionSpring.Settings.Servo.SpringSettings.DampingConstant = 70;
Game1.Instance.Space.Add(suspensionSpring);
//my own code ,add joints to lists of joints for explosion
suspensionSprings.Add(suspensionSpring);
}
public BepuEntity AddCylinder(string modelName, Vector3 Postion, bool Orientation)
{
BepuEntity cylinder = new BepuEntity();
cylinder.modelName = modelName;
cylinder.localTransform = Matrix.CreateScale(new Vector3(3, 3, 3));
cylinder.body = new Cylinder(Postion, 3, 3, 3);
cylinder.diffuse = new Vector3(0.5f, 0.5f, 0.5f);
if (Orientation)//if cylinder needs to be rotated
cylinder.body.Orientation = Quaternion.CreateFromAxisAngle(new Vector3(1, 0, 0), MathHelper.PiOver2);
Game1.Instance.Space.Add(cylinder.body);
Game1.Instance.Children.Add(cylinder);
return cylinder;
}
MarsRoverMovement roverMovement = new MarsRoverMovement(); // creates the aspects of the rovers movement
#endregion Fields
#region Constructors
public MarsRover()
: base()
{
laserShot = Game1.Instance.Content.Load<SoundEffect>("lasershot");
explosionSound = Game1.Instance.Content.Load<SoundEffect>("explosion-01");
cameraArm = new BepuEntity();
drillArm = new BepuEntity();
//construct mars rover ase body
roverBase = marsRoverBody.AddBox(new Vector3(260, 45, -260));
//create arms to hold both drill and camera/laser
drillArm = marsRoverBody.AddCylinder("cylinder", new Vector3(267, 44, -244), false);
cameraArm = marsRoverBody.AddCylinder("cylinder", new Vector3(254, 54, -252), true);
//Create joint between rover body and drill arm
roverMovement.CreateRevoluteJoint(out roverMovement.bodyDrillJoint, roverBase, drillArm, new Vector3(267, 44, -250), 3500, Vector3.Right);
roverMovement.roverJoints.Add(roverMovement.bodyDrillJoint);
//Create joint between rover body and camera/laser arm
roverMovement.CreateRevoluteJoint(out roverMovement.bodyCameraCylinderJoint, roverBase, cameraArm, cameraArm.body.Position, 1500, Vector3.Up);
roverMovement.roverJoints.Add(roverMovement.bodyCameraCylinderJoint);
//create container for camera/laser
cameraLaserContainer = marsRoverBody.AddCylinder("cube", new Vector3(254, 61, -252), true);
//Create joint between camera/laser arm and container for camera/laser
roverMovement.CreateRevoluteJoint(out roverMovement.cameraLaserContainerXaxisRotation, cameraArm, cameraLaserContainer, cameraLaserContainer.body.Position, 2500, -Vector3.Right);
roverMovement.roverJoints.Add(roverMovement.cameraLaserContainerXaxisRotation);
//create the four back wheels of the rover and connect them to the body
Entity backWheel1 = marsRoverBody.AddWheel(new Vector3(250, 42, -267), roverBase.body);
roverMovement.ConnectWheelBody(backWheel1, roverBase);
Entity backWheel2 = marsRoverBody.AddWheel(new Vector3(270, 42, -267), roverBase.body);
roverMovement.ConnectWheelBody(backWheel2, roverBase);
Entity backWheel3 = marsRoverBody.AddWheel(new Vector3(250, 42, -260), roverBase.body);
roverMovement.ConnectWheelBody(backWheel3, roverBase);
Entity backWheel4 = marsRoverBody.AddWheel(new Vector3(270, 42, -260), roverBase.body);
roverMovement.ConnectWheelBody(backWheel4, roverBase);
//Create the two driving wheels and connect them to the body
var wheel1 = marsRoverBody.AddWheel(new Vector3(270, 42, -255), roverBase.body);
roverMovement.SetUpFrontMotorWheels(roverBase, wheel1, out roverMovement.drivingMotor1, out roverMovement.steeringMotor1);
var wheel2 = marsRoverBody.AddWheel(new Vector3(250, 42, -255), roverBase.body);
roverMovement.SetUpFrontMotorWheels(roverBase, wheel2, out roverMovement.drivingMotor2, out roverMovement.steeringMotor2);
var steeringStabilizer = new RevoluteAngularJoint(wheel1, wheel2, Vector3.Right);
Game1.Instance.Space.Add(steeringStabilizer);
}
void 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.pos + (Camera.look * 5), size, size);
ball.diffuse = new Vector3((float)random.NextDouble(), (float)random.NextDouble(), (float)random.NextDouble());
space.Add(ball.body);
ball.LoadContent();
ball.body.ApplyImpulse(Vector3.Zero, Camera.look * 50);
children.Add(ball);
}
public BepuEntity AddBox(Vector3 boxPosition)
{
BepuEntity body = new BepuEntity();
body.modelName = "cube";
body.LoadContent();
body.localTransform = Matrix.CreateScale(new Vector3(15, 5, 20));
body.body = new Box(new Vector3(260, 45, -260), 15, 5, 20);
body.body.BecomeDynamic(100);
body.body.CollisionInformation.LocalPosition = new Vector3(0, .8f, 0);
body.diffuse = new Vector3(0.5f, 0.5f, 0.5f);
Game1.Instance.Space.Add(body.body);
Game1.Instance.Children.Add(body);
return body;
}
public BepuEntity AddBox(Vector3 boxPosition)
{
BepuEntity body = new BepuEntity();
body.modelName = "cube";
body.LoadContent();
body.localTransform = Matrix.CreateScale(new Vector3(15, 5, 20));
body.body = new Box(new Vector3(260, 45, -260), 15, 5, 20);
body.body.BecomeDynamic(100);
body.body.CollisionInformation.LocalPosition = new Vector3(0, .8f, 0);
body.diffuse = new Vector3(0.5f, 0.5f, 0.5f);
Game1.Instance.Space.Add(body.body);
Game1.Instance.Children.Add(body);
return(body);
}
public BepuEntity AddCylinder(string modelName, Vector3 Postion, bool Orientation)
{
BepuEntity cylinder = new BepuEntity();
cylinder.modelName = modelName;
cylinder.localTransform = Matrix.CreateScale(new Vector3(3, 3, 3));
cylinder.body = new Cylinder(Postion, 3, 3, 3);
cylinder.diffuse = new Vector3(0.5f, 0.5f, 0.5f);
if (Orientation)//if cylinder needs to be rotated
{
cylinder.body.Orientation = Quaternion.CreateFromAxisAngle(new Vector3(1, 0, 0), MathHelper.PiOver2);
}
Game1.Instance.Space.Add(cylinder.body);
Game1.Instance.Children.Add(cylinder);
return(cylinder);
}
public void ConnectWheelBody(Entity backWheel, BepuEntity roverBody)
{
//code taken from bepu physics demo suspensioncardemo.cs and adapted for this project
PointOnLineJoint pointOnLineJoint = new PointOnLineJoint(roverBody.body, backWheel, backWheel.Position, Vector3.Down, backWheel.Position);
LinearAxisLimit suspensionLimit = new LinearAxisLimit(roverBody.body, backWheel, backWheel.Position, backWheel.Position, Vector3.Down, -1, 0);
CreateSuspensionString(roverBody, backWheel);
RevoluteAngularJoint revoluteAngularJoint = new RevoluteAngularJoint(roverBody.body, backWheel, Vector3.Right);
Game1.Instance.Space.Add(pointOnLineJoint);
Game1.Instance.Space.Add(suspensionLimit);
Game1.Instance.Space.Add(revoluteAngularJoint);
//my own code ,add joints to lists of joints for explosionn
joints.Add(pointOnLineJoint);
joints.Add(suspensionLimit);
joints.Add(revoluteAngularJoint);
}
public void SetUpFrontMotorWheels(BepuEntity roverBody, Entity wheel1, out RevoluteMotor drivingMotor, out RevoluteMotor steeringMotor)
{
//code taken from bepu physics demo suspensioncardemo.cs and adapted for this project
PointOnLineJoint pointOnLineJoint = new PointOnLineJoint(roverBody.body, wheel1, wheel1.Position, Vector3.Down, wheel1.Position);
LinearAxisLimit suspensionLimit = new LinearAxisLimit(roverBody.body, wheel1, wheel1.Position, wheel1.Position, Vector3.Down, -1, 0);
CreateSuspensionString(roverBody, wheel1);
SwivelHingeAngularJoint swivelHingeAngularJoint = new SwivelHingeAngularJoint(roverBody.body, wheel1, Vector3.Up, Vector3.Right);
swivelHingeAngularJoint.SpringSettings.DampingConstant *= 1000;
swivelHingeAngularJoint.SpringSettings.StiffnessConstant *= 1000;
drivingMotor = new RevoluteMotor(roverBody.body, wheel1, -Vector3.Left);
drivingMotor.Settings.VelocityMotor.Softness = .3f;
drivingMotor.Settings.MaximumForce = 100;
drivingMotor.IsActive = false;
steeringMotor = new RevoluteMotor(roverBody.body, wheel1, Vector3.Up);
steeringMotor.Settings.Mode = MotorMode.Servomechanism;
steeringMotor.Basis.SetWorldAxes(Vector3.Up, Vector3.Right);
steeringMotor.TestAxis = Vector3.Right;
steeringMotor.Settings.Servo.SpringSettings.Advanced.UseAdvancedSettings = true;
steeringMotor.Settings.Servo.SpringSettings.Advanced.Softness = 0;
steeringMotor.Settings.Servo.SpringSettings.Advanced.ErrorReductionFactor = 0f;
var steeringConstraint = new RevoluteLimit(roverBody.body, wheel1, Vector3.Up, Vector3.Right, -maximumTurnAngle, maximumTurnAngle);
Game1.Instance.Space.Add(pointOnLineJoint);
Game1.Instance.Space.Add(suspensionLimit);
Game1.Instance.Space.Add(swivelHingeAngularJoint);
Game1.Instance.Space.Add(drivingMotor);
Game1.Instance.Space.Add(steeringMotor);
Game1.Instance.Space.Add(steeringConstraint);
//my own code ,add joints to lists of joints for explosion
joints.Add(pointOnLineJoint);
joints.Add(suspensionLimit);
joints.Add(swivelHingeAngularJoint);
motors.Add(drivingMotor);
motors.Add(steeringMotor);
}
public Entity AddWheel(Vector3 wheelPosition, Entity baseBody)
{
BepuEntity wheel = new BepuEntity();
wheel.modelName = "cyl";
wheel.LoadContent();
wheel.body = new Cylinder(wheelPosition, 2, 2, 2);
wheel.localTransform = Matrix.CreateScale(2f, 2f, 2f);
wheel.body.Material.KineticFriction = 2.5f;
wheel.body.Material.StaticFriction = 2.5f;
wheel.body.Orientation = Quaternion.CreateFromAxisAngle(Vector3.Forward, MathHelper.PiOver2);
wheel.diffuse = new Vector3(0, 0, 0);
//Prevents collisionf from happening
CollisionRules.AddRule(wheel.body, baseBody, CollisionRule.NoBroadPhase);
//Add the wheel and connection to the space.
Game1.Instance.Space.Add(wheel.body);
Game1.Instance.Children.Add(wheel);
return wheel.body;
}
public Entity AddWheel(Vector3 wheelPosition, Entity baseBody)
{
BepuEntity wheel = new BepuEntity();
wheel.modelName = "cyl";
wheel.LoadContent();
wheel.body = new Cylinder(wheelPosition, 2, 2, 2);
wheel.localTransform = Matrix.CreateScale(2f, 2f, 2f);
wheel.body.Material.KineticFriction = 2.5f;
wheel.body.Material.StaticFriction = 2.5f;
wheel.body.Orientation = Quaternion.CreateFromAxisAngle(Vector3.Forward, MathHelper.PiOver2);
wheel.diffuse = new Vector3(0, 0, 0);
//Prevents collisionf from happening
CollisionRules.AddRule(wheel.body, baseBody, CollisionRule.NoBroadPhase);
//Add the wheel and connection to the space.
Game1.Instance.Space.Add(wheel.body);
Game1.Instance.Children.Add(wheel);
return(wheel.body);
}
void 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.pos + (Camera.look * 5), size, size);
ball.diffuse = new Vector3((float)random.NextDouble(), (float)random.NextDouble(), (float)random.NextDouble());
space.Add(ball.body);
ball.LoadContent();
ball.body.ApplyImpulse(Vector3.Zero, Camera.look * 50);
children.Add(ball);
}
public override void LoadContent()
{
BepuEntity boxBase = new BepuEntity();
boxBase.modelName = "cube";
boxBase.localTransform = Matrix.CreateScale(new Vector3(20, 5, 20));
boxBase.body = new Box(new Vector3(5, 1, 0), 20, 5, 20, 1);
boxBase.body.BecomeKinematic();
boxBase.diffuse = new Vector3((float)random.NextDouble(), (float)random.NextDouble(), (float)random.NextDouble());
Game1.Instance.Space.Add(boxBase.body);
Game1.Instance.Children.Add(boxBase);
BepuEntity armBase = new BepuEntity();
armBase.modelName = "cylinder";
armBase.localTransform = Matrix.CreateScale(new Vector3(2.5f, 2, 5));
armBase.body= new Cylinder(new Vector3(15, 2, 20), 2.5f, 2, 1);
Game1.Instance.Space.Add(armBase.body);
Game1.Instance.Children.Add(armBase);
hinge = new RevoluteJoint(boxBase.body, armBase.body, new Vector3(10, 1.5f, 10), new Vector3(0, 1, 0));
hinge.Motor.IsActive = true;
hinge.Motor.Settings.Mode = BEPUphysics.Constraints.TwoEntity.Motors.MotorMode.Servomechanism;
hinge.Motor.Settings.MaximumForce = 3500;
BepuEntity armPart2 = new BepuEntity();
armPart2.modelName = "cylinder2";
armPart2.localTransform = Matrix.CreateScale(new Vector3(2.5f, 2, 5));
armPart2.body = new Cylinder(new Vector3(15, 2, 31), 2.5f, 2, 1);
armPart2.body.Orientation = Quaternion.CreateFromAxisAngle(new Vector3(1,0,0),90);
Game1.Instance.Space.Add(armPart2.body);
Game1.Instance.Children.Add(armPart2);
Game1.Instance.Space.Add(hinge);
hinge2 = new RevoluteJoint(armBase.body, armPart2.body,armBase.pos, new Vector3(1, 0, 0));
hinge2.Motor.IsActive = true;
hinge2.Motor.Settings.Mode = BEPUphysics.Constraints.TwoEntity.Motors.MotorMode.Servomechanism;
hinge2.Motor.Settings.MaximumForce = 3500;
Game1.Instance.Space.Add(hinge2);
BepuEntity wheel = new BepuEntity();
wheel.modelName = "wheel";
wheel.localTransform = Matrix.CreateScale(new Vector3(3, 3, 3));
wheel.body = new Cylinder(new Vector3(35, 5, 31), 2.5f, 0, 1);
wheel.body.BecomeKinematic();
wheel.diffuse = new Vector3((float)random.NextDouble(), (float)random.NextDouble(), (float)random.NextDouble());
Game1.Instance.Space.Add(wheel.body);
BepuEntity wheel2 = new BepuEntity();
wheel2.modelName = "wheel";
wheel2.localTransform = Matrix.CreateScale(new Vector3(3, 3, 3));
wheel2.body = new Cylinder(new Vector3(50, 5, 31), 2.5f, 0, 1);
wheel2.body.BecomeKinematic();
wheel2.diffuse = new Vector3((float)random.NextDouble(), (float)random.NextDouble(), (float)random.NextDouble());
Game1.Instance.Space.Add(wheel2.body);
BepuEntity wheel3 = new BepuEntity();
wheel3.modelName = "wheel";
wheel3.localTransform = Matrix.CreateScale(new Vector3(3, 3, 3));
wheel3.body = new Cylinder(new Vector3(35, 5, 21), 2.5f, 0, 1);
wheel3.body.BecomeKinematic();
wheel3.diffuse = new Vector3((float)random.NextDouble(), (float)random.NextDouble(), (float)random.NextDouble());
Game1.Instance.Space.Add(wheel3.body);
BepuEntity wheel4 = new BepuEntity();
wheel4.modelName = "wheel";
wheel4.localTransform = Matrix.CreateScale(new Vector3(3, 3, 3));
wheel4.body = new Cylinder(new Vector3(50, 5, 21), 2.5f, 0, 1);
wheel4.body.BecomeKinematic();
wheel4.diffuse = new Vector3((float)random.NextDouble(), (float)random.NextDouble(), (float)random.NextDouble());
Game1.Instance.Space.Add(wheel4.body);
Game1.Instance.Children.Add(wheel);
Game1.Instance.Children.Add(wheel2);
Game1.Instance.Children.Add(wheel3);
Game1.Instance.Children.Add(wheel4);
BepuEntity boxBase2 = new BepuEntity();
boxBase2.modelName = "cube";
boxBase2.localTransform = Matrix.CreateScale(new Vector3(20, 5, 20));
boxBase2.body = new Box(new Vector3(45, 10, 25), 20, 5, 20, 1);
//boxBase2.body.BecomeKinematic();
boxBase2.diffuse = new Vector3((float)random.NextDouble(), (float)random.NextDouble(), (float)random.NextDouble());
Game1.Instance.Space.Add(boxBase2.body);
Game1.Instance.Children.Add(boxBase2);
wheelJoint1 = new RevoluteJoint(boxBase2.body, wheel.body, new Vector3(35, 5, 31), new Vector3(0, 0, 1));
Game1.Instance.Space.Add(wheelJoint1);
wheelJoint2 = new RevoluteJoint(boxBase2.body, wheel2.body, new Vector3(50, 5, 31), new Vector3(0, 0, 1));
Game1.Instance.Space.Add(wheelJoint2);
wheelJoint3 = new RevoluteJoint(boxBase2.body, wheel3.body, new Vector3(35, 5, 21), new Vector3(0, 0, 1));
Game1.Instance.Space.Add(wheelJoint3);
wheelJoint4 = new RevoluteJoint(boxBase2.body, wheel4.body, new Vector3(50, 5, 21), new Vector3(0, 0, 1));
Game1.Instance.Space.Add(wheelJoint4);
}
public override void LoadContent()
{
BepuEntity boxBase = new BepuEntity();
boxBase.modelName = "cube";
boxBase.localTransform = Matrix.CreateScale(new Vector3(20, 5, 20));
boxBase.body = new Box(new Vector3(5, 1, 0), 20, 5, 20, 1);
boxBase.body.BecomeKinematic();
boxBase.diffuse = new Vector3((float)random.NextDouble(), (float)random.NextDouble(), (float)random.NextDouble());
Game1.Instance.Space.Add(boxBase.body);
Game1.Instance.Children.Add(boxBase);
BepuEntity armBase = new BepuEntity();
armBase.modelName = "cylinder";
armBase.localTransform = Matrix.CreateScale(new Vector3(2.5f, 2, 5));
armBase.body = new Cylinder(new Vector3(15, 2, 20), 2.5f, 2, 1);
Game1.Instance.Space.Add(armBase.body);
Game1.Instance.Children.Add(armBase);
hinge = new RevoluteJoint(boxBase.body, armBase.body, new Vector3(10, 1.5f, 10), new Vector3(0, 1, 0));
hinge.Motor.IsActive = true;
hinge.Motor.Settings.Mode = BEPUphysics.Constraints.TwoEntity.Motors.MotorMode.Servomechanism;
hinge.Motor.Settings.MaximumForce = 3500;
BepuEntity armPart2 = new BepuEntity();
armPart2.modelName = "cylinder2";
armPart2.localTransform = Matrix.CreateScale(new Vector3(2.5f, 2, 5));
armPart2.body = new Cylinder(new Vector3(15, 2, 31), 2.5f, 2, 1);
armPart2.body.Orientation = Quaternion.CreateFromAxisAngle(new Vector3(1, 0, 0), 90);
Game1.Instance.Space.Add(armPart2.body);
Game1.Instance.Children.Add(armPart2);
Game1.Instance.Space.Add(hinge);
hinge2 = new RevoluteJoint(armBase.body, armPart2.body, armBase.pos, new Vector3(1, 0, 0));
hinge2.Motor.IsActive = true;
hinge2.Motor.Settings.Mode = BEPUphysics.Constraints.TwoEntity.Motors.MotorMode.Servomechanism;
hinge2.Motor.Settings.MaximumForce = 3500;
Game1.Instance.Space.Add(hinge2);
BepuEntity wheel = new BepuEntity();
wheel.modelName = "wheel";
wheel.localTransform = Matrix.CreateScale(new Vector3(3, 3, 3));
wheel.body = new Cylinder(new Vector3(35, 5, 31), 2.5f, 0, 1);
wheel.body.BecomeKinematic();
wheel.diffuse = new Vector3((float)random.NextDouble(), (float)random.NextDouble(), (float)random.NextDouble());
Game1.Instance.Space.Add(wheel.body);
BepuEntity wheel2 = new BepuEntity();
wheel2.modelName = "wheel";
wheel2.localTransform = Matrix.CreateScale(new Vector3(3, 3, 3));
wheel2.body = new Cylinder(new Vector3(50, 5, 31), 2.5f, 0, 1);
wheel2.body.BecomeKinematic();
wheel2.diffuse = new Vector3((float)random.NextDouble(), (float)random.NextDouble(), (float)random.NextDouble());
Game1.Instance.Space.Add(wheel2.body);
BepuEntity wheel3 = new BepuEntity();
wheel3.modelName = "wheel";
wheel3.localTransform = Matrix.CreateScale(new Vector3(3, 3, 3));
wheel3.body = new Cylinder(new Vector3(35, 5, 21), 2.5f, 0, 1);
wheel3.body.BecomeKinematic();
wheel3.diffuse = new Vector3((float)random.NextDouble(), (float)random.NextDouble(), (float)random.NextDouble());
Game1.Instance.Space.Add(wheel3.body);
BepuEntity wheel4 = new BepuEntity();
wheel4.modelName = "wheel";
wheel4.localTransform = Matrix.CreateScale(new Vector3(3, 3, 3));
wheel4.body = new Cylinder(new Vector3(50, 5, 21), 2.5f, 0, 1);
wheel4.body.BecomeKinematic();
wheel4.diffuse = new Vector3((float)random.NextDouble(), (float)random.NextDouble(), (float)random.NextDouble());
Game1.Instance.Space.Add(wheel4.body);
Game1.Instance.Children.Add(wheel);
Game1.Instance.Children.Add(wheel2);
Game1.Instance.Children.Add(wheel3);
Game1.Instance.Children.Add(wheel4);
BepuEntity boxBase2 = new BepuEntity();
boxBase2.modelName = "cube";
boxBase2.localTransform = Matrix.CreateScale(new Vector3(20, 5, 20));
boxBase2.body = new Box(new Vector3(45, 10, 25), 20, 5, 20, 1);
//boxBase2.body.BecomeKinematic();
boxBase2.diffuse = new Vector3((float)random.NextDouble(), (float)random.NextDouble(), (float)random.NextDouble());
Game1.Instance.Space.Add(boxBase2.body);
Game1.Instance.Children.Add(boxBase2);
wheelJoint1 = new RevoluteJoint(boxBase2.body, wheel.body, new Vector3(35, 5, 31), new Vector3(0, 0, 1));
Game1.Instance.Space.Add(wheelJoint1);
wheelJoint2 = new RevoluteJoint(boxBase2.body, wheel2.body, new Vector3(50, 5, 31), new Vector3(0, 0, 1));
Game1.Instance.Space.Add(wheelJoint2);
wheelJoint3 = new RevoluteJoint(boxBase2.body, wheel3.body, new Vector3(35, 5, 21), new Vector3(0, 0, 1));
Game1.Instance.Space.Add(wheelJoint3);
wheelJoint4 = new RevoluteJoint(boxBase2.body, wheel4.body, new Vector3(50, 5, 21), new Vector3(0, 0, 1));
Game1.Instance.Space.Add(wheelJoint4);
}