Example #1
0
        public override void Build()
        {
            AddGround();

            RigidBody last = null;

            for (int i = 0; i < 12; i++)
            {
                RigidBody body = new RigidBody(new BoxShape(JVector.One));
                body.Position = new JVector(i * 1.5f-20, 0.5f, 0);

                JVector jpos2 = body.Position;

                Demo.World.AddBody(body);
                body.Update();

                if (last != null)
                {
                    JVector jpos3 = last.Position;

                    JVector dif; JVector.Subtract(ref jpos2, ref jpos3, out dif);
                    JVector.Multiply(ref dif, 0.5f, out dif);
                    JVector.Subtract(ref jpos2, ref dif, out dif);

                    Constraint cons = new PointOnPoint(last, body, dif);
                    Demo.World.AddConstraint(cons);
                }

                last = body;
            }
           
        }
        /// <summary>
        /// Initializes a new instance of the HingeJoint class.
        /// </summary>
        /// <param name="world">The world class where the constraints get added to.</param>
        /// <param name="body1">The first body connected to the second one.</param>
        /// <param name="body2">The second body connected to the first one.</param>
        /// <param name="position">The position in world space where both bodies get connected.</param>
        /// <param name="hingeAxis">The axis if the hinge.</param>
        public LimitedHingeJoint(World world, RigidBody body1, RigidBody body2, JVector position, JVector hingeAxis,
            float hingeFwdAngle, float hingeBckAngle)
            : base(world)
        {
            // Create the hinge first, two point constraints

            worldPointConstraint = new PointOnPoint[2];

            hingeAxis *= 0.5f;

            JVector pos1 = position; JVector.Add(ref pos1, ref hingeAxis, out pos1);
            JVector pos2 = position; JVector.Subtract(ref pos2, ref hingeAxis, out pos2);

            worldPointConstraint[0] = new PointOnPoint(body1, body2, pos1);
            worldPointConstraint[1] = new PointOnPoint(body1, body2, pos2);


            // Now the limit, one max distance constraint

            hingeAxis.Normalize();

            // choose a direction that is perpendicular to the hinge
            JVector perpDir = JVector.Up;

            if (JVector.Dot(perpDir, hingeAxis) > 0.1f) perpDir = JVector.Right;

            // now make it perpendicular to the hinge
            JVector sideAxis = JVector.Cross(hingeAxis, perpDir);
            perpDir = JVector.Cross(sideAxis, hingeAxis);
            perpDir.Normalize();

            // the length of the "arm" TODO take this as a parameter? what's
            // the effect of changing it?
            float len = 10.0f * 3;

            // Choose a position using that dir. this will be the anchor point
            // for body 0. relative to hinge
            JVector hingeRelAnchorPos0 = perpDir * len;


            // anchor point for body 2 is chosen to be in the middle of the
            // angle range.  relative to hinge
            float angleToMiddle = 0.5f * (hingeFwdAngle - hingeBckAngle);
            JVector hingeRelAnchorPos1 = JVector.Transform(hingeRelAnchorPos0, JMatrix.CreateFromAxisAngle(hingeAxis, -angleToMiddle / 360.0f * 2.0f * JMath.Pi));

            // work out the "string" length
            float hingeHalfAngle = 0.5f * (hingeFwdAngle + hingeBckAngle);
            float allowedDistance = len * 2.0f * (float)System.Math.Sin(hingeHalfAngle * 0.5f / 360.0f * 2.0f * JMath.Pi);

            JVector hingePos = body1.Position;
            JVector relPos0c = hingePos + hingeRelAnchorPos0;
            JVector relPos1c = hingePos + hingeRelAnchorPos1;

            distance = new PointPointDistance(body1, body2, relPos0c, relPos1c);
            distance.Distance = allowedDistance;
            distance.Behavior = PointPointDistance.DistanceBehavior.LimitMaximumDistance;

        }
        /// <summary>
        /// Initializes a new instance of the HingeJoint class.
        /// </summary>
        /// <param name="world">The world class where the constraints get added to.</param>
        /// <param name="body1">The first body connected to the second one.</param>
        /// <param name="body2">The second body connected to the first one.</param>
        /// <param name="position">The position in world space where both bodies get connected.</param>
        /// <param name="hingeAxis">The axis if the hinge.</param>
        public HingeJoint(JitterWorld world, RigidBody body1, RigidBody body2, JVector position, JVector hingeAxis) : base(world)
        {
            worldPointConstraint = new PointOnPoint[2];

            hingeAxis *= 0.5f;

            JVector pos1 = position; JVector.Add(ref pos1,ref hingeAxis,out pos1);
            JVector pos2 = position; JVector.Subtract(ref pos2,ref hingeAxis,out pos2);

            worldPointConstraint[0] = new PointOnPoint(body1,body2,pos1);
            worldPointConstraint[1] = new PointOnPoint(body1,body2,pos2);
        }
Example #4
0
        public LightEntity(
            LightRoomObject lightRoomObject, 
            I3DRenderUtilities threedRenderUtilities, 
            IAssetManagerProvider assetManagerProvider)
        {
            this.m_LightRoomObject = lightRoomObject;
            this.m_LightRoomObject.Deleted += this.OnDeleted;
            this.m_3DRenderUtilities = threedRenderUtilities;
            this.m_TextureAsset = assetManagerProvider.GetAssetManager().Get<TextureAsset>("ship");

            var baseX = lightRoomObject.X + 0.5f;
            var baseY = lightRoomObject.Y + 0.5f;
            var baseZ = lightRoomObject.Z + 0.5f;

            // Set up rope physics.
            this.m_RopeComponents = new RigidBody[12];
            this.m_PendingConstraints = new List<Constraint>();
            for (var i = 0; i < 12; i++)
            {
                var shape = new BoxShape(0.5f, 0.5f, 0.5f);
                var rigidBody = new RigidBody(shape);
                rigidBody.Position = new JVector(baseX, baseY - (i * 0.6f), baseZ);
                this.m_RopeComponents[i] = rigidBody;

                if (i == 0)
                {
                    rigidBody.IsStatic = true;
                }
                else
                {
                    var constraint = new PointOnPoint(
                        rigidBody,
                        this.m_RopeComponents[i - 1],
                        new JVector(baseX, baseY - (i * 0.6f) + 0.3f, baseZ)) {
                                                                                 BiasFactor = 0.8f, Softness = 0.4f
                                                                              };
                    this.m_PendingConstraints.Add(constraint);
                }
            }
        }
Example #5
0
		private void CreatePointOnPointJoint()
		{
			JVector localAnchor;
			Vector3D tempVector = ArrayExtensions.GetWithDefault<PropertyType, Vector3D>(Properties,
				PropertyType.Anchor1);
			JitterDatatypesMapping.Convert(ref tempVector, out localAnchor);
			if (RigidBodyB != null)
				Constraint = new PointOnPoint(RigidBodyA, RigidBodyB, localAnchor);
			else
				Constraint = new global::Jitter.Dynamics.Constraints.SingleBody.PointOnPoint(RigidBodyA,
					localAnchor);
		}
Example #6
0
        public void BuildRagdoll(World world, JVector position)
        {
            // the torso
            RigidBody torso = new RigidBody(new BoxShape(1.5f, 3, 0.5f));
            torso.Position = position;

            // the head
            RigidBody head = new RigidBody(new SphereShape(0.5f));
            head.Position = position + new JVector(0, 2.1f, 0);

            // connect head and torso
            PointPointDistance headTorso = new PointPointDistance(head, torso,
                position + new JVector(0, 1.6f, 0), position + new JVector(0, 1.5f, 0));

            RigidBody arm1 = new RigidBody(new CapsuleShape(0.8f, 0.2f));
            arm1.Position = position + new JVector(1.0f, 0.75f, 0);

            RigidBody arm2 = new RigidBody(new CapsuleShape(0.8f, 0.2f));
            arm2.Position = position + new JVector(-1.0f, 0.75f, 0);

            RigidBody lowerarm1 = new RigidBody(new CapsuleShape(0.6f, 0.2f));
            lowerarm1.Position = position + new JVector(1.0f, -0.45f, 0);

            RigidBody lowerarm2 = new RigidBody(new CapsuleShape(0.6f, 0.2f));
            lowerarm2.Position = position + new JVector(-1.0f, -0.45f, 0);

            PointOnPoint arm1torso = new PointOnPoint(arm1, torso, position + new JVector(0.9f, 1.4f, 0));
            PointOnPoint arm2torso = new PointOnPoint(arm2, torso, position + new JVector(-0.9f, 1.4f, 0));

            HingeJoint arm1Hinge = new HingeJoint(world, arm1, lowerarm1, position + new JVector(1.0f, 0.05f, 0), JVector.Right);
            HingeJoint arm2Hinge = new HingeJoint(world, arm2, lowerarm2, position + new JVector(-1.0f, 0.05f, 0), JVector.Right);

            RigidBody leg1 = new RigidBody(new CapsuleShape(1.0f, 0.3f));
            leg1.Position = position + new JVector(-0.5f, -2.4f, 0);

            RigidBody leg2 = new RigidBody(new CapsuleShape(1.0f, 0.3f));
            leg2.Position = position + new JVector(0.5f, -2.4f, 0);

            PointOnPoint leg1torso = new PointOnPoint(leg1, torso, position + new JVector(-0.5f, -1.6f, 0));
            PointOnPoint leg2torso = new PointOnPoint(leg2, torso, position + new JVector(+0.5f, -1.6f, 0));

            RigidBody lowerleg1 = new RigidBody(new CapsuleShape(0.8f, 0.3f));
            lowerleg1.Position = position + new JVector(-0.5f, -4.0f, 0);

            RigidBody lowerleg2 = new RigidBody(new CapsuleShape(0.8f, 0.3f));
            lowerleg2.Position = position + new JVector(+0.5f, -4.0f, 0);

            HingeJoint leg1Hinge = new HingeJoint(world, leg1, lowerleg1, position + new JVector(-0.5f, -3.35f, 0), JVector.Right);
            HingeJoint leg2Hinge = new HingeJoint(world, leg2, lowerleg2, position + new JVector(0.5f, -3.35f, 0), JVector.Right);

            lowerleg1.IsActive = false;
            lowerleg2.IsActive = false;
            leg1.IsActive = false;
            leg2.IsActive = false;
            head.IsActive = false;
            torso.IsActive = false;
            arm1.IsActive = false;
            arm2.IsActive = false;
            lowerarm1.IsActive = false;
            lowerarm2.IsActive = false;

            world.AddBody(head); world.AddBody(torso);
            world.AddBody(arm1); world.AddBody(arm2);
            world.AddBody(lowerarm1); world.AddBody(lowerarm2);
            world.AddBody(leg1); world.AddBody(leg2);
            world.AddBody(lowerleg1); world.AddBody(lowerleg2);

            arm1Hinge.Activate(); arm2Hinge.Activate();
            leg1Hinge.Activate(); leg2Hinge.Activate();

            world.AddConstraint(headTorso);
            world.AddConstraint(arm1torso);
            world.AddConstraint(arm2torso);
            world.AddConstraint(leg1torso);
            world.AddConstraint(leg2torso);
        }